Arm prosthetic device

ABSTRACT

A prosthetic arm apparatus including a plurality of segments that provide a user of the prosthetic arm apparatus with substantially the same movement capability and function as a human arm. The segments are connectable to one another and connectable to a prosthetic support apparatus that may be adorned by the user. Each segment of the plurality of segments provides a portion of the movement capability, enabling the plurality of connected segments connected to the harness mount to provide substantially the same movement capability as that lacking in the user.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. patent application Ser. No.15/212,843, filed Jul. 18, 2016, now U.S. Pat. No. 10,292,838, which isa continuation of U.S. patent application Ser. No. 13/902,123, filed May24, 2013, now U.S. Pat. No. 9,393,131, which is a continuation of U.S.patent application Ser. No. 12/706,609, filed Feb. 16, 2010, now U.S.Pat. No. 8,449,624, which is a continuation-in-part of U.S. patentapplication Ser. No. 12/027,141, filed Feb. 6, 2008, now U.S. Pat. No.9,114,028, which claims priority from U.S. Provisional PatentApplication Ser. No. 60/899,833, filed Feb. 6, 2007, and U.S.Provisional Patent Application Ser. No. 60/963,639, filed Aug. 6, 2007,each of which is hereby incorporated by reference in its entirety. U.S.Patent Application Ser. No. 12/706,609, now U.S. Pat. No. 8,449,624,also claims priority to U.S. Provisional Patent Application Ser. No.61/168,786, filed Apr. 13, 2009, which is also hereby incorporated byreference in its entirety.

STATEMENT OF GOVERNMENT INTEREST

This invention was made with Government support under Contract NumberW911NF-09-C-0035 awarded by the U. S. Army RDECOM ACQ CTR. TheGovernment has certain rights in the invention.

TECHNICAL FIELD

The present development relates to mechanical and medical devices and,more particularly, to prosthetic devices. More particularly, thedevelopment utilizes mechanical structure and user or motor stimuli tooperate a prosthesis similarly to a human limb.

BACKGROUND INFORMATION

Existing prosthetic arms have limited movement for the user. Further,there are limited options for those patients who have lost their entirearm, shoulder to hand. Also, hand portions of existing prosthetic armsgive the user, in many instances, one degree of movement. These knownprosthetic devices provide limited capability with respect to, amongstother things, finer tasks.

Accordingly, there is a need for a prosthetic arm that replaces an armfrom shoulder to hand and that has increased degrees of freedom. Thereis also a need for a prosthetic hand that moves in a realistic manner.

SUMMARY

It is one aspect of the present device to provide a prosthetic devicethat will allow the user improved range of motion, improved tactilecapabilities, increased comfort for the user, and decreased reliance onmanual positioning of the prosthesis.

In accordance with one aspect of the invention, the present deviceemploys a compliant structure that incorporates a shoulder flexionjoint, a shoulder abduction joint, a humeral rotator, an elbow flexionjoint, a wrist rotation joint, and a wrist flexion joint. The presentdevice also discloses a hand assembly having compliance.

In accordance with one embodiment of the device, the shoulder flexionjoint assembly includes a motor, a belt, a pulley, a gear train, aharmonic drive gearing system, a potentiometer, a nonbackdriving clutch,and a compliance sensor. The electrically driven motor rotor drives thebelt that is defined by two pulleys. The first pulley is driven by themotor rotor. The second pulley is driven by the belt and engages theharmonic drive gearing system. The harmonic drive gearing system has aninterior wave generator that corresponds with the flexible spline. Thespline in turn engages the exterior circular spline, resulting indrastic reduction rates and driving the shoulder output flange, allowingthe shoulder joint flexion movement.

In accordance with another aspect of the shoulder flexion joint, thejoint assembly also discloses a clutch. The clutch has an input cage, anoutput hex, and a clutch race, or ground. When the shoulder flexionjoint is acted upon by an output force, the output hex is engaged in afriction lock with the clutch race and bearings lining the exterior ofthe output hex, preventing backward transfer of power through theclutch.

In accordance with another aspect of the shoulder flexion joint, thejoint assembly also discloses a shoulder compliance sensor. The sensorprovides the shoulder flexion joint with measured compliance. The sensorutilizes the interior rim of the circular spline of the harmonic drivegearing system. The exterior rim of the circular spline additionallyaccommodates stationary reactor elements and series elastic elements.The circular spline, series elastic elements and reactor elements arecircumferentially disposed around the interior of a clamp. Together, theclamp and a compliance reactor substantially enclose the circularspline, series elastic elements, and reactor elements. The clamp andcompliance reactor remain stationary while the circular spline, serieselastic elements, and reactor elements are rotatably disposed around theexterior rim of the spline. Additionally, a magnet is disposed on theexterior rim of the circular spline for measuring compliance. Uponapplication of force, the position of the circular spline alters causingthe series elastic elements to compress against the reactor elements.The movement of the reactor elements transmits the rotationaldisplacement of the circular spline via the reactor movement in relationto the stationary magnet. In this manner, the compliance is built intothe shoulder flexion joint and works to absorb energy when the joint issubjected to a load or an unexpected shock.

In accordance with the shoulder abduction joint, the joint features ashoulder flexion mount. The shoulder flexion joint fastens to theshoulder flexion mount. The abductor also discloses a harness mount.

The humeral rotator may feature a harmonic drive gearing system, amotor, a motor armature, a potentiometer and a humeral mount. Thesupport structure of the humeral rotator has a humeral mount site at theoutput of the rotator. The motor drives the motor armature, which inturn drives the wave generator of the harmonic drive gearing system. Thewave generator drives the interior flexible spline, which in turninteracts with the outer circular spline. The circular spline thendrives the rotational movement of the humeral rotator.

In further accordance with an aspect of the humeral rotation site, thepotentiometer features a position potentiometer and a potentiometershaft for position measurement.

In accordance with another embodiment of the device, the elbow flexionjoint is further comprised of a motor armature, a motor rotor, a motorrotor magnet integrated into the motor rotor, a sun gear also integratedinto the motor rotor, a plurality of planet gears, a ring gear, aharmonic drive gearing system, and a potentiometer.

In accordance with another aspect of the elbow flexion joint, the motorarmature applies electrical force to the motor rotor magnet integratedonto the surface of the motor rotor. The motor rotor in turnrotationally drives the sun gear also integrated on the motor rotor. Thesun gear rotationally drives the four planet gears. The planet gears inturn react against the stationary ring gear to effect rotation of thecarrier plate, providing the first stage of reduction.

In accordance with a further aspect of the elbow flexion joint, thecarrier plate drives the harmonic drive gearing system wave generator.The harmonic drive gearing system has an interior wave generator thatcorresponds with the flexible spline. The spline in turn engages theexterior circular spline, resulting in drastic reduction rates anddriving the elbow output, allowing the elbow flexion joint movement.

In accordance with a further aspect of the elbow flexion joint, theelbow flexion joint also discloses a compliance sensor. The sensorprovides the elbow flexion joint with measured compliance. The sensorutilizes the interior rim of the circular spline of the harmonic drivegearing system. The exterior rim of the circular spline additionallyaccommodates stationary reactor elements and series elastic elements.The circular spline, series elastic elements and reactor elements arecircumferentially disposed around the interior of a clamp. Together, theclamp and a compliance reactor substantially enclose the circularspline, series elastic elements, and reactor elements. The clamp andcompliance reactor remain stationary while the circular spline, serieselastic elements, and reactor elements are rotatably disposed around theexterior rim of the spline. Additionally, a magnet is disposed on theexterior rim of the circular spline. Upon application of force, theposition of the circular spline alters causing the series elasticelements to compress against the reactor elements. The movement of thereactor elements transmits the rotational displacement of the circularspline via the reactor movement in relation to the stationary magnet. Inthis manner, the compliance is built into the elbow flexion joint andworks to absorb energy when the joint is subjected to a load or anunexpected shock.

The wrist rotation site features a harmonic drive gearing system, amotor, a motor armature, and a potentiometer. The motor drives the motorarmature, which in turn drives the wave generator of the harmonic drivegearing system. The wave generator drives the interior flexible spline,which in turn interacts with the outer circular spline. The circularspline then drives the rotational movement of the wrist rotator.

In further accordance with an aspect of the wrist rotation site, thepotentiometer features a position potentiometer and a potentiometershaft for position measurement.

The wrist flexion joint is further comprised of a motor, an output arm,a gear train, and series elastic elements. The wrist flexion joint isdriven by a motor that in turn drives the gear train. A finalstage-driven gear transfers power to the output arm. The output armconnects to the main wrist flexion joint by a pivot axle.

In further accordance with an aspect of the wrist flexion joint, theoutput arm contains series elastic elements, a compliance sensor magnet,and a drive arm. The exterior casing of the output arm encloses thedrive arm, which features at one end of the arm an opening defined toaccept the pivot axle. The opposing end of the arm may include acompliance magnetic sensor for compliance sensing. Disposed laterally ateither side of the drive arm is a series elastic element.

In accordance with another aspect of the present device, the handassembly is comprised of structures replicating a thumb, an indexfinger, and the grouping of the middle, ring, and pinky fingers. Thethumb structure is driven by two parallel actuators that provide thestructure with two inputs and two outputs. The two parallel actuatorsgive the thumb structure opposition movement with the index finger andlateral movement. The two actuators are connected in parallel and fixedto the interior structure of the hand assembly. The thumb structure alsofeatures a flexural element separating the base of the thumb structurefrom the load-bearing portion of the structure. The base portion of thestructure houses a sensor measuring the displacement of the loadedportion of the thumb relative to the thumb structure rest position. Theload-bearing portion of the thumb structure contains a magnet whosedisplacement the sensor measures. In one embodiment of the thumbstructure, the flexural structure is provided by linear flexuralelements. Another embodiment of the thumb structure provides for spiralflexural elements. The sensor measuring displacement allows acalculation of the compliance to the thumb in both directions. Themeasured compliance allows continuous measurement of the force appliedto the thumb structure in both directions.

In accordance with another aspect of the present device, the indexfinger structure of the hand assembly contains a rotating element at thebase of the index finger that drives the motion of the finger. The indexfinger structure may be comprised of three joints. First, a base jointthat is connected to the rotating element. The base joint supports thelower phalanx structure. The lower phalanx structure terminates at themiddle joint. The middle joint then supports the middle phalanxstructure. The middle phalanx structure terminates at the farthestjoint. The farthest joint then supports the upper phalanx structure. Insome embodiments, the index finger structure may include only twojoints, with the middle phalanx structure and the upper phalanxstructure being combined into a single integrated phalanx structure.

In further accordance with the present device, the index fingerstructure and its integrated phalanx structures are kinematicallydeterminate based on the rotation of the base element. When driven bythe rotating element, the index finger structure is constrained tofollow a set trajectory, enabling precise dexterity of index fingermovement. In this way, the user can rely on the fixed trajectory of theindex finger to perform fine tasks, such as pinching or retrieving smallobjects. In another embodiment of the index finger, the middle phalanxstructure is fixedly joined to the upper phalanx structure.

In accordance with another aspect of the present device, the middle,ring, and pinky finger structures (MRP structures) are integrated intothe hand assembly. Each of the three structures originates with a basejoint supporting a lower phalanx structure. Each lower phalanx structureterminates at a middle joint. Each middle joint then supports a middlephalanx structure. Each middle phalanx joint terminates at a farthestjoint. Each farthest joint then supports an upper phalanx structure.

Each individual MRP structure features an indeterminate linkage betweenthe base joint and middle joint, and a deterministic linkage between themiddle joint and farthest joint. As a result, the base and middle jointsof the individual finger structures will continue to operate until thejoint motion is impeded. During a grasping action, the middle phalanxstructure will continue to operate even if the base phalanx structure isimpeded by the object being grasped. This indeterminate linkage assistsin creating a conforming grasp for the hand structure and is enabled bythe double differential of the MRP transmissions.

Additionally, the MRP structures have indeterminate gear sets allowingthe three structures to move separately in order to grasp or conformaround an obstacle. Two differential gear sets incorporated into thehand assembly structure drive the MRP structures. The first differentialgear is driven by the actuator and has outputs at the rotating elementof one finger structure and at the input of the second differentialgear. The second differential gear has outputs at the rotating elementsof the remaining fingers. As one actuator drives all three MRPstructures separately, the MRP structures are linked and under-actuated.As a result of the differential gear assembly, if one MRP structureencounters an obstacle, it will stop, but the other MRP structures willstill move freely until they encounter an obstacle.

In accordance with another aspect of the present device, anon-backdriveable clutch controls the reaction of the thumb structure,the index finger structure and the linked MRP structures to theapplication of an output load. This embodiment of the clutch providesthat any output torque on the hand assembly will result in a frictionlock of the clutch. In this embodiment, the output hex of the clutchlocks against the input spline and the bearings disposed between theoutput and input. Further, this embodiment of the clutch provides thatupon sufficient input torque, the clutch unlocks and allows additionalinput movement without the user having to manually reset the handassembly.

In accordance with another aspect of the present device, a planetarygear stage transfers torque from the actuator to the output stage. Theactuator drives the planetary stage's ring gear which, throughinteraction with the planet gears, drives the planet's carrier, whichthen drives the output stage. The sun gear is attached through a springto ground. Any torque applied to the planetary stage will cause adisplacement of the sun gear until the torque is balanced by thedisplacement of the spring. Thus, the spring stores elastic energy andincreases the compliance of the index structure. The use of the springattached to the sun gear allows measurement of load on the structureswithout the addition of a load cell.

In accordance with another embodiment of the present device, a stagedriver and timing belt transfer torque to the index finger structure andthe MRP structures. The stage driver transfers the torque to the timingbelt, loosening one side of the timing belt and tightening the oppositeside. In further accordance with the current device, a tensionerpositioned between the stage driver and its corresponding pulleydisplaces as the tension of the timing belt changes. The tensionerdisplacement stores energy. Inference of the load applied to thestructure can be based upon that displacement. The use of this tensionerallows measurement of load on the structures without the addition of aload cell. The tensioner additionally stores elastic energy andincreases the compliance of the structures.

These aspects of the invention are not meant to be exclusive and otherfeatures, aspects, and advantages of the present invention will bereadily apparent to those of ordinary skill in the art when read inconjunction with the appended claims and accompanying drawings.

The same compliance method is applied to the MRP drive, allowing it tostore elastic energy.

BRIEF DESCRIPTION OF THE DRAWINGS

These and other features and advantages of the present invention will bebetter understood by reading the following detailed description, takentogether with the drawings wherein:

FIG. 1 is a perspective view of one embodiment of a prosthetic armapparatus according to the present invention;

FIG. 2 is an exploded view of the prosthetic arm apparatus of FIG. 1;

FIG. 3 is a rear view of a shoulder abductor of the prosthetic armapparatus of FIG. 1 according to the present invention;

FIG. 4 is a front view of the shoulder abductor of FIG. 3;

FIG. 5 is a side view of the shoulder abductor of FIG. 3;

FIG. 6 is a perspective view of the shoulder abductor of FIG. 3;

FIG. 7 is an exploded perspective view of the shoulder abductor of FIG.6;

FIG. 8 is a perspective view of a shoulder flexion assembly of theprosthetic arm apparatus of FIG. 1 according to the present invention;

FIG. 9 is a reverse perspective view of the shoulder flexion assembly ofFIG. 8;

FIG. 10 is an exploded perspective view of the shoulder flexion assemblyof FIG. 8;

FIG. 11 is a cross-sectional perspective view of the shoulder flexionassembly of FIG. 8;

FIG. 12 is a top view of a non-backdriving clutch according to thepresent invention;

FIG. 13 is a perspective view of a fully assembled compliancesubassembly of the shoulder flexion assembly of FIG. 8;

FIG. 14 is a perspective view of the bottom portion of the compliancesubassembly of FIG. 13;

FIG. 15 is a perspective view of the top portion of the compliancesubassembly of FIG. 13;

FIG. 16 is a perspective view of a humeral rotator of the prosthetic armapparatus of FIG. 1 according to the present invention;

FIG. 17 is a cross-sectional perspective view of the humeral rotator ofFIG. 16;

FIG. 18 is a perspective view of an elbow flexion assembly of theprosthetic arm apparatus of FIG. 1 according to the present invention;

FIG. 19 is a cross-sectional perspective view of one embodiment of theelbow flexion 15 assembly shown without the radial mount;

FIG. 20 is a cross-sectional perspective view of the elbow flexionassembly shown with the radial mount;

FIG. 21 is a perspective view showing the compliance subassembly of theelbow flexion assembly of FIG. 19;

FIG. 22 is an exploded perspective view of the elbow flexion assembly ofFIG. 18;

FIG. 23 is a perspective view of a wrist rotator of the prosthetic armapparatus of FIG. 1 according to the present invention;

FIG. 24 is a cross-sectional perspective view of the wrist rotator ofFIG. 23;

FIG. 25 is a perspective view of a wrist flexion assembly and a handcontrol module of the prosthetic arm apparatus of FIG. 1 according tothe present invention;

FIG. 26 is a rear perspective view of the wrist flexion assembly andhand control module of FIG. 25;

FIG. 27 is a cross-sectional perspective view of the wrist flexionassembly and hand control module of FIG. 25;

FIG. 28 is a perspective view of a wrist assembly output arm of FIG. 25;

FIG. 29 is a side view of a hand assembly of the prosthetic armapparatus of FIG. 1 according to one embodiment;

FIG. 30 is a front view of one embodiment of the hand assembly of FIG.29;

FIG. 31 is a perspective view of one embodiment of the hand assembly ofFIG. 29 showing an index finger tensioner assembly;

FIG. 32 is a cross-sectional view of one embodiment of the hand assemblyof FIG. 29 showing an MRP tensioner assembly;

FIG. 33 is a front cross-sectional view of one embodiment of the MRPdifferential drive of FIG. 30;

FIG. 34 is a front cross-sectional view of one embodiment of thumbdifferential drives of FIG. 30;

FIG. 35 is a side view of one embodiment of the hand assembly of FIG. 30showing a tactile feedback sensor according to the present invention;

FIG. 36 is a perspective view of one embodiment of the tactile feedbacksensor and a feedback actuator of the prosthetic arm apparatus of FIG.1;

FIG. 37 is a perspective view of another embodiment of the tactilefeedback sensor and feedback actuator of the prosthetic arm apparatus ofFIG. 1 according to the present invention;

FIG. 38 is an exploded view of a portion of the hand showing anotherembodiment of the index and MRP fingers drives;

FIG. 39 is an exploded view of another embodiment of the hand;

FIG. 40 is a perspective view of another embodiment of the hand;

FIG. 41 is a perspective cutaway view of the hand;

FIG. 42 shows an embodiment of an integrated shoulder unit according toan embodiment of the present invention;

FIG. 43 is a partial cutaway view of the integrated shoulder unit ofFIG. 42 in an inactuated state;

FIG. 44 is a partial cutaway view of the integrated shoulder unit ofFIG. 42 in an actuated state;

FIG. 45 is a cross sectional view of another embodiment of an integratedshoulder unit according to the present invention;

FIG. 46 is a cross sectional view of another embodiment of theintegrated shoulder unit of FIG. 45;

FIG. 47 is a top view of a shoulder abductor and shoulder flexionassembly according to another embodiment of the present invention;

FIG. 48 is a side plane view of shoulder flexion assembly mount of theshoulder abductor of FIG. 47;

FIG. 49 is a cross-sectional view of one embodiment of a rotatoraccording to the present invention;

FIG. 50 is a side view of one embodiment of a flexion assembly accordingto the present invention;

FIG. 51 is a front view of the flexion assembly of FIG. 50;

FIG. 52 is a perspective view of another embodiment of a wrist flexionassembly according to the present invention;

FIG. 53 is a partially exploded perspective view of the wrist flexionassembly of FIG. 52;

FIG. 54 is a top cross-sectional view of the wrist flexion assembly ofFIG. 52;

FIG. 55 is a top cross-sectional view of the wrist flexion assembly ofFIG. 52;

FIG. 56 is a cross-sectional view of another embodiment of a wristflexion assembly according to the present invention;

FIG. 57 is a partial cross sectional view of another embodiment of thenon-backdriving clutch of FIG. 12;

FIG. 58 is a perspective view of a compliance assembly according to anembodiment of the present invention;

FIG. 59 is a side view of a breakaway mechanism according to anembodiment of the present invention;

FIG. 60 is a front cross-sectional view of the breakaway mechanism ofFIG. 59;

FIG. 61A-63B are various views of another embodiment of a breakawaymechanism according to the present invention;

FIG. 64 is a front view of a magnetic sensor according to someembodiments of the present invention;

FIG. 65 is a side cross-sectional view of another embodiment of amagnetic sensor according to the present invention;

FIG. 66 is a cross-sectional view of a hand assembly according to anembodiment of the present invention;

FIG. 67 is a front view of a hand assembly cosmesis according to anembodiment of the present invention;

FIG. 68A is a front view of an embodiment of the cosmesis of FIG. 67with removable finger portions;

FIG. 68B is a cross-sectional view of an embodiment of a fingerstructure cosmesis of FIG. 68A;

FIG. 69 is a perspective view of another embodiment of the cosmesis ofFIG. 67;

FIG. 70 is a perspective view of a prosthetic arm apparatus having atemperature sensor according to an embodiment of the present invention;

FIG. 71 is a side view of a thumb structure according to an embodimentof the present invention;

FIG. 72 is a side cross-sectional view of the thumb structure of FIG.71;

FIG. 73 is a side cross-sectional view of the thumb structure of FIG. 71under a load;

FIG. 74 is a top view of a humeral rotator and an elbow flexion assemblyaccording to another embodiment of the present invention;

FIG. 75A is a perspective view of a prosthetic arm apparatus having anemergency switch according to an embodiment of the present invention;

FIG. 75B is a perspective view of a prosthetic arm apparatus having anemergency switch according to an embodiment of the present invention;

FIG. 76 is a perspective view of a wrist flexion assembly according toanother embodiment of the present invention;

FIG. 77 is a perspective view of a first cam bearing of the wristflexion assembly of FIG. 76;

FIG. 78 is a perspective view of a second cam bearing of the wristflexion assembly of FIG. 76;

FIG. 79A is a perspective view of the wrist flexion assembly of FIG. 76in a first position;

FIG. 79B is a perspective view of the wrist flexion assembly of FIG. 76in a second position;

FIG. 79C is a perspective view of the wrist flexion assembly of FIG. 76in a third position; and

FIG. 80 is a line graph of a fixed movement path of the wrist flexionassembly of FIG. 76.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

Referring to FIGS. 1 and 2, a prosthetic arm apparatus 10 for attachmentto a shoulder of a shoulder disarticulated amputee includes a pluralityof segments, including a shoulder abductor 12, a shoulder flexionassembly 14, a humeral rotator 16, an elbow flexion assembly 18, a wristrotator 20, a wrist flexion assembly 22, and a hand assembly 24. Theprosthetic arm apparatus 10, in the exemplary embodiment, has thedimensions and weight of a female arm of a fiftieth percentile, so thatmany different users may comfortably use the prosthetic arm apparatus10. As should be understood by those skilled in the art, the prostheticarm apparatus 10 may be constructed to larger or smaller dimensions ifdesired. The prosthetic arm apparatus 10 may be controlled by a controlsystem (not shown), such as the various control systems described inU.S. patent application Ser. No. 12/027,116, filed Feb. 6, 2008, nowU.S. Pat. No. 8,821,587, U.S. patent application Ser. No. 12/706, 575,filed Feb. 16, 2010, now U.S. Pat. No. 8,864,845, and U.S. patentapplication Ser. No. 12/706, 471, filed Feb. 16, 2010, now U.S. Pat. No.8,453,340, each of which is hereby incorporated by reference in itsentirety.

Referring to FIG. 3, one embodiment of the shoulder abductor 12 isshown. The shoulder abductor 12 includes a harness mount 26 forconnecting the prosthetic arm apparatus 10, shown in FIG. 1, to asupport apparatus, as the various prosthetic supports described in U.S.patent application Ser. No. 12/026,971, filed Feb. 6, 2008, now U.S.Pat. No. 8,870,970, and U.S. patent application Ser. No. 12/706, 340,filed Feb. 16, 2010, now U.S. Pat. No. 8,074,559, each of which ishereby incorporated by reference in its entirety. The harness mount 26has harness interface holes 28 that may be used to attach the abductor12 to a prosthetic harness (not shown) or other system for supportingthe prosthetic arm apparatus 10. In the exemplary embodiment, theharness or prosthetic support apparatus may also be one disclosed inU.S. patent application Ser. No. 12/026,971, filed Feb. 6, 2008, nowU.S. Pat. No. 8,870,970, which is hereby incorporated by reference inits entirety.

Referring to FIG. 4, the shoulder abductor 12 also has a shoulderflexion assembly mount 30, shown according to one embodiment. Theshoulder flexion assembly mount 30 interfaces with the shoulder flexionassembly 14 to mount the shoulder flexion assembly 14 onto the shoulderabductor 12. In one embodiment, the flexion assembly mount 30 hasinterface holes 32 to facilitate connection of the shoulder flexionassembly 14 by attachment means such as bolts.

Referring to FIG. 5, the shoulder abductor 12 further includes anabductor joint 34, shown according to one embodiment. The abductor joint34 is used to pivot the shoulder flexion assembly mount 30 away from theharness mount 26 and back toward the harness mount 26.

Referring to FIGS. 6 and 7, the shoulder abductor 12 includes anabductor motor 36 to control the pivotal movement of the abductor joint34, shown in FIG. 5, both the shoulder abductor 12 and abductor motor 36shown according to one embodiment. In this embodiment, the abductormotor 36 is a brushed DC motor controlling the pivotal movement throughan abductor belt 38 connected to a worm drive 41 driving a worm wheel 39connected to an abductor harmonic drive gearing system 40.

Referring to FIGS. 8 and 9, the shoulder flexion assembly 14, in oneembodiment, has a main shoulder housing 42, with an abductor interface44 for connecting the shoulder flexion assembly 14 to the shoulderabductor 12. The shoulder flexion assembly 14 also has a humeralinterface 46 for connecting the humeral rotator 16 to the shoulderflexion assembly 14.

Referring to FIGS. 10 and 11, in one embodiment, shoulder flexion motormagnets 52 are disposed around a shaft 58 of a shoulder flexion motorrotor 54. In this embodiment, a shoulder flexion motor armature 55drives the shoulder flexion motor rotor 54, which in turn drives ashoulder flexion motor pulley 56 around a motor shaft 58. The shoulderflexion motor pulley 56 supports a shoulder flexion belt 60, which islinked between the shoulder flexion motor pulley 56 and a shoulderflexion belt-driven pulley 62. The shoulder flexion belt-driven pulley62 drives a shoulder flexion harmonic drive gearing system wavegenerator 64. A shoulder flexion harmonic drive gearing systemflexspline 66 rotates against the shoulder flexion harmonic drivegearing system wave generator 64 and a shoulder flexion harmonic drivegearing system circular spline 68, resulting in reduced speed for thejoint movement. The shoulder flexion harmonic drive gearing systemflexspline 66 is connected to the abductor interface 44, and is thusable to rotate the shoulder flexion assembly 14 in reference to theabductor interface.

Referring to FIG. 11, in one embodiment, a non-backdriving clutch 70 isdisposed inside the main shoulder housing 42. The non-backdriving clutch70 allows the prosthetic arm 10 to hold position by locking when theprosthetic arm 10 is not moving.

Referring to FIG. 11 and FIG. 12, in one embodiment, roller bearings 72line the interface between an input cage 74 and an output hex 76. When aforce is applied to the shoulder abductor interface 44, the output hex76 locks against the bearing race 78 and the roller bearings 72. Thisprevents the shoulder flexion assembly 14 from moving due to forceapplied to its output, shoulder abductor interface 44. Upon the exertionof a necessary amount of input force through the clutch input cage 74,the output hex 76 disengages and allows the shoulder flexion assembly 14to move. The clutch input cage 74 and the output hex 76 are bothconstrained by a clutch race 78. It should be understood by thoseskilled in the art, that other mechanisms could be used to preventbackdriving of the prosthetic arm 10, such as a clutch that locks in onedirection or a solenoid with brakes that engage when the solenoid ispowered. Additionally, although described in connection with theshoulder flexion assembly 14, it should be understood by those skilledin the art that the non-backdriving clutch 70 may be included in otherprosthetic joints described herein.

Referring to FIG. 13, in one embodiment, a compliance subassembly 50,shown in FIG. 11, includes a compliance reactor 80 positioned on top ofthe shoulder flexion harmonic drive gearing system circular spline 68,shown in FIG. 10, and held in place by the clamp 82. The compliancereactor 80 measures the amount of displacement in the compliancesubassembly 50 in relation to the position of a compliance sensor magnet84.

Referring to FIG. 14, in one embodiment, the interior of compliancesubassembly 50 includes series elastic elements 86. The shoulder flexionharmonic drive gearing system circular spline 68 defines the interior ofthe compliance subassembly 50 and is formed to accommodate the placementof the series elastic elements 86 around an outer diameter 87 of theshoulder flexion harmonic drive gearing system circular spline 68. Theseries elastic elements 86 are confined by the shoulder flexion harmonicdrive gearing system circular spline 68 and the clamp 82.

Referring to FIG. 15, the placement of the compliance reactor 80 inrelation to the series elastic elements 86 and reactor elements 88 isshown. In this embodiment, three reactor elements 88 are positionedaround the compliance reactor 80, equidistant to each other. One serieselastic element 86 is placed on either side of each reactor element 88.When the shoulder flexion assembly 14 is subjected to unexpected force,such as a sudden jolt or impact, the compliance reactor 80 and reactorelements 88 displace from their rest positions and compress against theseries elastic elements 86. In that way, the compliance subassembly 50attenuates the shock being transferred to the rest of the shoulderflexion assembly 14. The compliance reactor 80 may also measure theamount of displacement and compliance by measuring the movement of thecompliance reactor 80 in relation to the stationary position of thecompliance sensor magnet 84.

Referring to FIG. 16, one embodiment of the humeral rotator 16 is shown.The humeral rotator 16 includes an outer bearing carrier 90 attached tothe first control housing 92, shown in FIG. 2. The first control housing92, shown in FIG. 2, is used to connect the humeral rotator 16 to theshoulder flexion assembly 14. The inner rotational elements of thehumeral rotator are held in place by a clamp 94, which is fastened tothe outer bearing carrier 90. A humeral mount 96 passes through theclamp 94 and includes an elbow interface 98 for attaching the elbowflexion assembly 18 to the humeral rotator 16.

FIG. 17 shows a cross-sectional view of the humeral rotator 16. Ahumeral motor armature 100 drives a humeral motor rotor 102 havinghumeral magnets 104 disposed on its surface. The lower portion of themotor rotor 102 engages a humeral harmonic drive gearing system wavegenerator 106. A humeral harmonic drive gearing system flexspline 108rotates with the humeral harmonic drive gearing system wave generator106 against the humeral harmonic drive gearing system circular spline110, resulting in a speed of rotation reduction as the humeral harmonicdrive gearing system flexspline 108 causes the humeral mount 96 to move.Bearings 111 and 113 support the humeral motor rotor 102. Bearings 112support the harmonic drive gearing system components 106, 108, 110. Abearing support 114 caps the outer bearing carrier 90 between the outerbearing carrier 90 and the first control housing 92, shown in FIGS. 16and 2, respectively.

Still referring to FIG. 17, the one embodiment, a humeral potentiometer116 of the humeral rotator 16, measures the rotational displacement of ahumeral potentiometer shaft 118 that rotates proportionately to thehumeral mount 96.

Referring to FIG. 18, the elbow flexion assembly 18 includes an elbowjoint 120 and a radial mount 122. The elbow joint 120 includes a slot124 into which the elbow interface 98 of the humeral rotator is insertedto facilitate connection of the elbow flexion assembly 18 to the humeralrotator 16. The radial mount 122 provides a second electronics housing126, in which an ACM stack 128 is located. “ACM” as used herein refersto Arm Control Module. The radial mount 122 includes a wrist interface130, for attachment of the wrist rotator 20.

Referring to FIG. 19, the elbow joint 120 includes an elbow motorarmature 132 that drives an elbow motor rotor 134. Elbow magnets 136 aredisposed at one end of the motor rotor 134, and the opposing end of themotor rotor 134 has a sun gear 138. As the motor armature 132 drives thesun gear 138, the sun gear 138 in turn drives four planetary gears 140positioned equidistant from each other around the sun gear 138. The fourplanetary gears 140 in turn react against a ring gear 142, giving theelbow flexion assembly 18 a first stage of speed reduction through anelbow harmonic drive gearing system wave generator 148 which also actsas the planet carrier. The elbow harmonic drive gearing system wavegenerator 148 powers the elbow harmonic drive gearing system flexspline146, which drives against the elbow harmonic drive gearing systemcircular spline 144, giving the elbow flexion assembly 18 a second stageof reduction. The elbow harmonic drive gearing system flexspline 146then drives the motion of the elbow flexion assembly 18. Bearings 150and crossed roller bearings 152 support the outer perimeter of the elbowflexion assembly 18. Although described with both a planetary gearsystem and an elbow harmonic drive gearing system, the elbow flexionassembly 18 could be controlled solely by a harmonic drive gearingsystem by changing the gear reduction ratio.

In various embodiments, it may be desirable to avoid having to performadditional measurement by using the measurement in the complianceprocess. One example includes, in various embodiments, where theplanetary gears may be used for compliance and measurement of load.

Referring to FIG. 20, in the embodiment shown, the radial mount 122 isstructurally fixed to the elbow joint 120, such that when the elbowjoint is actuated, the radial mount 122 moves.

Referring to FIG. 21, an elbow compliance subassembly 154 isincorporated into the elbow flexion assembly 18. A plurality of arms 156extends from the center portion of the elbow compliance subassembly 154.Each arm 156 has an elbow series elastic element 158 disposed on eitherside of the am 156. Similar to the shoulder flexion assembly 14, if theelbow flexion assembly 18 is subject to a torque, the elbow compliancesubassembly 154, with its series elastic elements 158, is capable ofabsorbing the shock attenuating the torque magnitude through the rest ofthe elbow flexion assembly 18.

Referring to FIG. 22, the ACM stack 128, includes circuit boards 160connected to one another by structural standoffs 162. The structuralstandoffs 162 are constructed of a conductive material, so thatelectrical power may be passed through the circuit boards 160. Thestructural standoffs allow power to be supplied to each circuit board160 without conventional power connections.

Referring to FIG. 23, the wrist rotator 20 includes a wrist outerbearing carrier 164, a wrist clamp 166, a wrist potentiometer 168, anelbow interface 170, and a wrist flexion assembly interface 172.

Referring to FIG. 24, movement of the wrist rotator 20 is controlled bya harmonic drive gearing system similar to that described for thehumeral rotator. A wrist rotator motor armature 174 drives a wristrotator motor rotor 176 having wrist rotator magnets 178 disposed to itssurface. The lower portion of the wrist rotator motor rotor 176integrates a wrist rotator harmonic drive gearing system wave generator180. A wrist rotator harmonic drive gearing system flexspline 182rotates with the wrist rotator harmonic drive gearing system wavegenerator 180 against a wrist rotator harmonic drive gearing systemcircular spline 184, resulting in reduction in the speed of rotation asthe wrist rotator harmonic drive gearing system flexspline 182 causesthe wrist flexion assembly interface 172 to move with respect to therest of the wrist rotator 20. Bearings 185 support the wrist rotatormotor rotor 176. Bearings 186 support the harmonic drive gearing systemcomponents 180,182, and 184.

Still referring to FIG. 24, the wrist potentiometer 168 of the wristrotator 20 is disposed at one end of a wrist shaft 188 and measures therotational displacement thereof. The wrist shaft 188 may be tubular,having an electronics channel 190 for passing electronic power andcontrols through the wrist rotator 20.

Referring to FIG. 25, the wrist flexion assembly 22 includes handcontrol module circuit boards 192, an input support structure 194, anoutput arm 196, and a hand interface 198. The input support structure194 connects the wrist rotator 20 with the wrist flexion assembly 22.The output arm 196 has positive and negative flexion, such that theoutput arm 196 is able to move in two opposite directions in referenceto the support structure 194. The hand interface 198 allows the handassembly 24 to be connected to the wrist flexion assembly 22. Referringto FIG. 26, the wrist flexion assembly 22, has wrist electricalconnections 200 for supplying power to a wrist flexion motor 202.

Referring to FIG. 27, in the embodiment shown, the wrist flexion motor202 drives a wrist flexion output gear 204, which in turn drives a wristflexion final stage-driven gear 206. A wrist flexion pivot axle 208 ofthe output arm 196 is axially disposed inside an opening defined by theinterior of the wrist flexion final stage-driven gear 206. Wrist flexionseries elastic elements 210 are disposed in the interior of the outputarm 196. Movement of the wrist flexion final stage-driven gear 206facilitates the positive and negative motion of the output arm 196. Anon-backdriving clutch 212 is disposed at one end of the wrist flexionoutput gear 204.

Referring to FIG. 28, the output arm 196 has a wrist flexion drive arm214, which is driven by the wrist flexion final stage-driven gear 206.The end of the wrist flexion drive arm 214 accommodates a wrist flexioncompliance sensor magnet 216. The wrist flexion series elastic elements210 are disposed on either side of the wrist flexion drive arm 214, andthe wrist flexion series elastic elements 210 and the drive arm 214 aresubstantially enclosed within the output arm 196. Similar to the elbowflexion assembly 18 and the shoulder flexion assembly 14, if the wristflexion assembly 22 is subjected to a force, the wrist flexion drive arm214 compresses the wrist flexion series elastic elements 2 10 andattenuates the force or impact through the rest of the wrist flexionassembly 22.

The following is a description of one embodiment of the hand assembly.Other embodiments of the hand assembly are described and shown elsewherein this specification. Referring to FIGS. 29 and 30 the hand assembly 24includes a hand support 218 for providing an interface for connectingthe hand assembly 24 to the wrist flexion output arm 196. The handassembly 24 also includes a thumb structure 220, an index fingerstructure 222, and an MRP structure 224 replicating a middle finger 226,a ring finger 228, and a pinky finger 230. In various embodiments, thethumb structure 220 may be driven by two thumb drives 232 that feed intoa single differential, giving the thumb structure 220 two degrees offreedom of movement. The index finger structure 222 may be driven by asingle index drive 234 and the MRP structure 224 may be driven by asingle MRP drive 236 that feeds a double differential. The MRP approachallows for an indeterminate versus determinate linkage.

Referring to FIG. 31, the index finger structure 222 (not shown) isdriven by the index drive 234 through an index drive pulley 238, anindex tensioner 240, an index tension belt 242, and an index fingerpulley 244. The index drive pulley 238 is stage driven and transfers thetorque to the index tension belt 242, which in turn rotates the indexfinger pulley 244, causing the index finger structure 222 to move. Asthe index tension belt 242 transfers the torque, one side of the indextension belt 242 tightens and the other side loosens, depending on whichdirection the index drive pulley 238 is rotated. The index tensioner 240is located between the index drive pulley 238 and the index fingerpulley 244 and the index tensioner 240 displaces in relation to thechange in load to maintain the tension of the index tension belt 242.The index tensioner 240 has one side grounded and the other side capableof displacement upon the application of a load. The index tensioner 240may instead ground the moveable side of the index tensioner 240 with aspring.

Referring to FIG. 38, in another embodiment, the index finger structure222 is driven through an index sun shaft 350, a set of index planets352, an index planet carrier 354, an index ring gear 356, and an indexdrive gear 358. The index drive 360 drives the index ring gear 356,turning the index planets 352, the turning of which causes the indexplanet carrier 354 to rotate. The index drive gear 358 is driven by theexternal teeth of the index planet carrier 354, causing the indexstructure 222 to move. Any torque transmitted by the index planetcarrier 354 will react against the index sun shaft 350 causing it torotationally displace the index spring 362 through the index springmount 364. This rotational displacement, sensed by an indexpotentiometer 366 can be used to infer the load on the index fingerstructure 222. This rotational displacement may be used to store elasticenergy and to provide the index finger structure 222 with a measure ofcompliance that may aid in gripping and with load absorption.

Referring to FIG. 31, the thumb structure 220 is mounted on a thumbsupport 246, which is driven by the two thumb differential drives 232.The thumb structure 220 has flexural cuts 248 at its base allowing thecompliant thumb structure 220 to move when a load is applied to it. Thiscompliance in the thumb structure 220 may aid in gripping and with loadabsorption, which may prevent the hand assembly 24 from damaging objects(not shown) by closing around them too quickly and forcefully.

Referring to FIG. 32, the hand assembly 24 includes an MRP drive pulley250 driven by the MRP drive 236 (not shown). The MRP drive pulley 250 isconnected through an MRP tension belt 252 to the MRP pulley 254,enabling movement of the MRP structure 224. The MRP drive pulley 250 isstage driven and transfers the load to the MRP tension belt 252, whichin turn rotates the linked MRP structure 224 via the MRP pulley 254. Asthe MRP tension belt 252 transfers torque, one side of the MRP tensionbelt 252 tightens as the other side loosens. An MRP tensioner 256located at one side of the MRP tension belt 252 displaces in relation tothe change in load to maintain the tension of the MRP tension belt 252.This also provides the MRP structure 224 with compliance to aid ingripping and with load absorption, which may prevent the hand assembly24 from damaging object s(not shown) by closing around the objects (notshown) too quickly and forcefully.

Referring to FIG. 38, in another embodiment, the MRP finger structures224 are driven through an MRP sun shaft 370, a set of MRP planets 372,an MRP planet carrier 374, an MRP ring gear 376, and an MRP drive gear378. The MRP drive 380 drives the MRP ring gear 376, turning the MRPplanets 372, the turning of which causes the MRP planet carrier 374 torotate. The MRP drive gear 378 is driven by the external teeth of theMRP planet carrier 374, causing the MRP structures 224 to move. Anytorque transmitted by the MRP planet carrier 374 will react against theMRP sun shaft 370 causing it to rotationally displace the MRP spring 382through the MRP spring mount 384. This rotational displacement can beused to store elastic energy.

Referring to FIG. 33 the MRP differential drive 236 includes a main MRPdrive gear 258. The MRP drive gear 258 drives a first MRP input axle260. The first MRP input axle 260 drives a first differential idler gear259 which optionally drives a middle spur gear 262 or a differentialinterface gear 261. The middle spur gear 262 drives a middle pivot axle264. The middle finger 226 is mounted on the middle pivot axle 264 andis thus actuated by the MRP differential drive 236. The differentialinterface gear 261 drives a second MRP input axle 266. The second MRPinput axle 266 drives a second differential idler gear 263 whichoptionally drives a ring spur gear 268 or a pinky spur gear 272. Thering spur gear 268 drives a ring pivot axle 270. The ring finger 228 ismounted on the ring pivot axle 270 and is thus actuated by the MRPdifferential drive 236. The pinky spur gear 272 drives a pinky pivotaxle 274. The pinky finger 230 is mounted on the pinky pivot axle 274and is thus actuated by the MRP drive 236. While the MRP drive 236drives the middle finger 226, the ring finger 228 and the pinky finger230, the gear configuration of the first input axle 260 and the secondinput axle 266 allows independent movement for the under-actuated fingergear system of the MRP structures 224.

Referring to FIG. 41, in another embodiment of the hand, the MRPdifferential drive 236 includes an MRP drive gear 378 which drives adouble differential allowing the MRP fingers to conformably wrap aroundan object. The MRP drive gear 378 drives a first MRP input axle 400. Thefirst input axle 400 drives a first differential idler gear 402 whichoptionally drives a middle spur gear 404 or a differential interfacegear 406. The middle spur gear 404 drives a middle pivot axle 264. Themiddle finger 226 is mounted on the middle pivot axle 264 and is thusactuated by the MRP drive 236. The differential interface gear 406drives a second MRP input axle 408. The second MRP input axle 408 drivesa second differential idler gear 410 which optionally drives a ring spurgear 412 or a pinky spur gear 414. The ring spur gear 412 drives a ringpivot axle 270. The ring finger 228 is mounted on the ring pivot axle270 and is thus actuated by the MRP drive 236. The pinky spur gear 414drives a pinky pivot axle 274. The pinky finger 230 is mounted on thepinky pivot axle 274 and is thus actuated by the MRP drive 236. Whilethe MRP drive 236 drives the middle finger 226, the ring finger 228 andthe pinky finger 230, the gear configuration of the first input axle 400and the second input axle 408 allows independent movement for theunder-actuated finger gear system of the MRP structures 224.

Referring to FIG. 34 the thumb differential drives 232 control themovement of the thumb structure 220 and are driven by thumb actuators276. The thumb actuators 276 have nonbackdriving thumb clutches 278 toprevent output loads from reaching and backdriving the thumb actuators.One thumb actuator 276 drives a first thumb output drive 280 and a firstthumb output gear 282. The first thumb output gear 282 in turn drives afirst thumb transfer gear 284, which drives a fixed differential shaft286. The fixed differential shaft 286 drives one thumb differentialbevel gear 287. The second thumb actuator 276 drives a second thumboutput drive 288 and a second thumb output gear 290. The second thumboutput gear 290 drives a second thumb transfer gear 292, which drives athumb differential bevel gear 294. The two thumb differential bevelgears 287 and 294 operate the thumb structure 220 in its two degrees ofmotion.

The thumb structure 220, the index finger structure 222, and MRPstructure 224 in one embodiment are covered in silicone, which providesadditional friction and aids in gripping objects. In some embodiments,the entire hand assembly 24 may also be covered in silicone to provideadditional grip for holding objects. In other embodiments, the siliconematerial may be replaced by other compliant materials.

The hand assembly 24 is advantageous because the thumb structure 220,index finger structure 222 and MRP structure 224 provide various degreesof freedom that allow the formation of various grasps or grips.Additionally, the different drives for each of the thumb structure 220,index finger structure 222 and MRP structure 224 provide variousbeneficial characteristics to the hand assembly 24. For instance, thethumb structure 220 moves relatively slow, but with greater force thanthe index finger structure 222 and MRP structure 224. The index fingerstructure 222 moves quickly, but with less force and isnon-backdrivable. This combination of thumb structure movement and indexfinger structure movement allow the quick formation of strong handgrips. Additionally, the combination allows for a smaller index fingeractuator, which reduces size and weight of the hand assembly 24.Additionally, the index finger structure 222 and MRP structure 224 movesimilar to human fingers, which makes them look more natural and makesthem more intuitive for the user to control. The MRP structure 224provides only bulk control for gripping objects, without providing forindividual finger manipulation, since fine control is not necessary forthe MRP structure 224. Additionally, the MRP structure 224advantageously moves each finger of the MRP structure 224 with a singleactuator, eliminating excessive bulk in the hand assembly 24. Like theindex finger structure, the MRP structure 224 moves quickly with lowforce but is also non-backdrivable. Additionally, the fingers of the MRPstructure 224 are highly flexible, allowing them to grip objects ofvarying size and shape. The MRP structure 224 functionality allows theuser to grasp an object with the MRP structure 224 and thumb structure220, while allowing the user to move the index finger structure 222separately, for example, to activate a button on the object.

The various parts of the prosthetic arm apparatus 10 are, in someembodiments, constructed from plastic or magnesium. However, where morestrength is desired, the parts may be made of aluminum, titanium orsteel. In other embodiments, the various parts of the prosthetic arm maybe constructed of other metals or plastics, depending on the desiredcharacteristics, including strength, weight, compliance or other similarperformance characteristics of the various parts.

Referring to FIG. 35, a tactile feedback sensor 296 may be positioned onthe inner side of the thumb structure 220. The tactile feedback sensor296 may be a pressure sensor, force sensor, a displacement sensor, orother similar sensor capable of providing the user with feedback.Referring to FIG. 36, the tactile feedback sensor 296 is operativelyconnected to a feedback actuator 298. The tactile feedback sensor 296may be connected to the feedback actuator 298 by either wires orwirelessly. In operation, as the user grips an object with the handassembly 24, feedback sensor 296 reads the displacement of or the forceexerted on the thumb structure 220. That reading is then sent to thefeedback actuator 298, which gives the user tactile feedback thatindicates the strength of the grip. Feedback actuator 298 may be placedon the chest of the user, located on a prosthetic support apparatus 299in an area of tactile communication with the user, or in any otherlocation capable of receiving tactile feedback, such as on a user'sresiduum 300. Referring to FIG. 37, the feedback actuator 298 may belocated on a foot controller 302 that is used to control hand assembly24.

Feedback actuator 298 may be a vibration motor, such as any vibrationmotor known in the art, placed against the skin of the user. As the usergrips an object, feedback actuator 298 begins vibrating, notifying theuser how strong the object is being gripped. As the force on ordisplacement of the tactile feedback sensor 296 changes, frequencyand/or amplitude of vibration may also change, notifying the amputee ofa changing grip. For example, if a vibrating actuator 298 is placed atthe chest of the user as in FIG. 36, the user will feel the vibration athis chest.

The feedback actuator 298 may also be placed wherever the controller forthe hand assembly 24 is located. For example, if a foot controller 302controls the hand assembly 24, the feedback actuator 298 may beincorporated into the foot controller 302. The user will then receivetactile feedback of the strength of the prosthetic grip at the samelocation where the controller is located.

The actuator 298 may also be a pressure actuator that applies pressureagainst the user's skin. For example, the actuator 298 may have a rodthat increases pressure against the amputee's skin as the hand assembly24 increases its grip on an object.

Although described with a single tactile feedback sensor 296, additionaltactile feedback sensors may be placed at other locations on the handassembly 24. For example, additional tactile feedback sensors 296 may beplaced on the index finger structure 222, the MRP structures 224, on thepalm of the hand assembly 24, or on any combination of these positionsor any other location. Each tactile feedback sensor 296 would then beoperatively connected to an associated feedback actuator 298. Multipletactile feedback sensors 296 and actuators 298 would provide moresophisticated tactile feedback of the strength of the grip, improvingthe control of the hand assembly 24.

In some embodiments, the tactile feedback sensor 296 may indicate achange in pressure or force, rather than an absolute pressure or force.For example, if the force detected by the tactile feedback sensor 296 isconstant, the feedback actuator 298 does not actuate, but if thatpressure or force increases or decreases, the actuator 298 would actuateto indicate the change in pressure or force. Additionally, althoughdescribed in terms of grip strength, the tactile feedback sensors 296and actuators 298 may provide a variety of other feedback in includingtemperature, an operational mode of the prosthetic arm 10, surfacefinish of a object, slip of an object within the hand assembly 24 or thelike.

In operation, the prosthetic arm apparatus is able to move substantiallysimilar to a human arm. Referring to FIGS. 29 and 30, starting with thehand assembly 24, the thumb structure 220, index finger structure 222,and MRP structure 224 are each driven independent of the others, andtherefore, each may be actuated without actuating the other twostructures. Both of the thumb actuators 276 control motion of the thumbstructure 220 in a direction toward or away from the center of the palmof the hand assembly 24, as shown in FIG. 34, through the miter gear 294and in a direction toward or away from the side of the palm of the handassembly 24, as shown in FIG. 34, through the lateral rotation shaft,depending upon the direction and speed of rotation of each thumbactuator 276. Thus, the thumb actuators 276, shown in FIG. 34, providethe thumb structure 220 with two degrees of freedom in the thumbstructure's movement. Coupling the two thumb actuators 276 through thedifferential described above to provide the two degrees of freedom tothe thumb structure 220 is advantageous over providing a single degreeof freedom with each actuator 276 because the torque of each actuator276 through the differential is used for movement in both degrees offreedom, which effectively doubles the torque of the thumb in eachdirection as compared to single actuators. The index finger structure222, driven by a single index differential drive 234, may be actuatedwith two degrees of freedom. Specifically, the index finger structure222 may be actuated toward or away from the palm of the hand assembly24, wherein the movement path is similar to that of a human index fingerwhile making or releasing a fist. The middle finger 226, ring finger228, and pinky finger 230 of the MRP structure 224 are actuated by theMRP differential drive 236. Additionally, the middle finger 226, ringfinger 228, and pinky finger 230 are actuated toward or away from thepalm of the hand assembly 24, similar to the index finger structure 222.However, the middle finger 226, ring finger 228, and pinky finger 230are each geared separately, such that the rate of movement of each isdifferent, simulating human finger movement and making the hand assembly24 more similar to a human hand than conventional prior art prostheticdevices.

Referring to FIG. 1, the hand assembly 24 is mounted on the wristflexion assembly 22 via the hand interface 198, as shown in FIG. 25.Referring to FIG. 25, as the output arm 196 of the wrist flexionassembly 22 is actuated, the hand assembly 24 is also caused to move.The output arm 196 of the wrist flexion assembly 22 may be actuatedpivotally about wrist flexion pivot axle 208, as shown in FIG. 27,moving the hand interface 198 to the left or right, and thus pivotingthe hand assembly 24 in relation to the input support structure 192.

Referring back to FIG. 1, the wrist flexion assembly 22 is attached tothe wrist rotator 20 via wrist flexion assembly interface 172, shown inFIG. 23. Referring to FIGS. 23 and 24, when actuated, the wrist flexionassembly interface 172 is rotated about wrist shaft 188 in relation to10 the wrist outer bearing carrier 164. Therefore, the wrist flexionassembly 22, and attached hand assembly 24 are also caused to rotate inreference to the wrist outer bearing carrier 164 by actuation of thewrist rotator 20. Therefore, the wrist rotator 20 allows the prostheticarm apparatus 10 to move in rotation similar to a human wrist joint.

Referring back to FIG. 1, the wrist rotator 20 is attached to the elbowflexion assembly 18 via the wrist interface 130, shown in FIG. 18.Referring to FIG. 20, when the elbow flexion assembly 18 is actuated,the radial mount 122 is rotated about the axis of motor rotor 134. Thewrist rotator 20, wrist flexion assembly 22, and hand assembly 24 arethus also caused to rotate about the axis of motor rotor 134 becausethey are attached at the wrist interface to the radial mount 122.Therefore, the elbow flexion joint 18 allows the prosthetic armapparatus 10 to move similar to flexion extension of a human elbowjoint.

Referring back to FIG. 1, the elbow flexion assembly 18 is attached tothe humeral rotator 16 via the humeral mount 96, shown in FIG. 16.Referring to FIG. 16, actuation of the humeral rotator 16 causes thehumeral mount 96 to rotate in relation to the outer bearing carrier 90of the humeral rotator 16. Since the elbow flexion assembly 18, wristrotator 20, wrist flexion 25 assembly 22, and hand assembly 24 areattached to the humeral mount 96, they are also caused to rotate inrelation to the outer bearing carrier 90. This allows the prosthetic armapparatus 10 to rotate to perform an arm wrestling motion.

Referring back to FIG. 1, the humeral rotator 16 is attached to theshoulder flexion assembly 14 through the humeral interface 46, shown inFIG. 9. Referring to FIG. 9, actuation of the shoulder flexion assembly14 causes the main shoulder housing 42 to pivot about the center of theabductor interface 44. Since the humeral rotator 16, elbow flexionassembly 18, wrist rotator 20, wrist flexion assembly 22, and handassembly 24 are attached to the main housing 42, they are also caused torotate in relation to the abductor interface 44. Therefore, the shoulderflexion assembly 14 allows the prosthetic arm apparatus 10 to move alongthe torso simulating running motion.

Referring to FIG. 1, the shoulder flexion joint 14 is attached to theshoulder abductor 12 through the shoulder flexion assembly mount 30,shown in FIG. 5. Referring to FIG. 5, the shoulder abductor 12 isattached to a harness that is worn by the user via harness mount 26.When the shoulder abductor 12 is actuated in a positive direction, theshoulder flexion assembly mount 30 pivots away from the harness mount26, and the user. Similarly, by actuating the shoulder abductor in anegative direction, the shoulder flexion assembly mount 30 is pivotedtoward the harness mount 26 and the user. Since the shoulder flexionassembly 14, humeral rotator 16, elbow flexion assembly 18, wristrotator 20, wrist flexion assembly 22, and hand assembly 24 are attachedto shoulder abductor 12 at the flexion assembly mount 30, they are alsocaused to pivot with the shoulder flexion assembly mount 30.

One characteristic of the prosthetic arm apparatus described herein isthat it provides the user with substantially the same movementcapabilities and degrees of freedom of a human arm, including twodegrees of freedom in shoulder functionality. Additionally, themodularity of each segment of the prosthetic arm apparatus 10 provides asignificant advantage over conventional prosthetic devices. Inparticular, since each segment of the plurality of segments operatesindependently of each other segment of the plurality of segments, fewersegments may be used for less severe amputees. For example, atranshumeral amputee may have full shoulder functionality in theresiduum, in which case the shoulder abductor 12 and shoulder flexionassembly 14 segments would be omitted from the prosthetic arm apparatus10. The resulting prosthetic arm apparatus 10 would include the humeralrotator 16, the elbow flexion assembly 18, the wrist rotator 20, thewrist flexion assembly 22, and the hand assembly 24, wherein the humeralrotator 16 would be attached to the prosthetic harness. In some cases,the residuum of the transhumeral amputee may even have humeral rotation,in which case the prosthetic arm apparatus 10 may be further simplifiedto include only the elbow flexion assembly 18, the wrist rotator 20, thewrist flexion assembly 22 and the hand assembly 24, with the elbowflexion assembly 22 being attached to the prosthetic support apparatus.Similarly, for a transradial amputee, the prosthetic arm apparatus 10may include only the wrist rotator 20, wrist flexion assembly 22 and thehand assembly 24, with the wrist rotator 20 being attached to theprosthetic support apparatus. Additionally, in some embodiments, theprosthetic arm apparatus 10 may be further simplified to include onlythe wrist flexion assembly 22 and the hand assembly 24 when thetransradial amputee has wrist rotation in their residuum. In theseembodiments, the wrist flexion assembly 22 may be attached to theprosthetic support apparatus. Thus, the modularity of each segment ofthe prosthetic arm apparatus 10 advantageously allows for customizationof different prosthetic arm configurations for various users based onthe differing degrees of amputation of each user.

A further advantage of the present invention is the use ofnon-backdriving clutches to preclude movement of the segments due toforces exerted on the prosthetic arm apparatus 10 when not in motion.These non-backdriving clutches may be particularly beneficial when thesegments of the prosthetic arm apparatus 10 have different strengthcapacities so that the clutches for specific segments of the prostheticarm apparatus 10 may lock those segments while other stronger segmentsare actuated to lift heavy objects. For instance, the non-backdrivingclutch in the shoulder flexion assembly 14 may be used to lock outshoulder movement while the elbow flexion assembly 18 is actuated tolift a heavy object. The non-backdriving clutches may alsoadvantageously conserve power since the non-backdriving clutches preventmotion without using power. Thus, the power to specific segments of theprosthetic arm apparatus 10 may be shut off, on a segment-by-segmentbasis, when not in use, since the non-backdriving clutches in thosesegments are locking out motion. Additionally, the non-backdrivingclutches may also save power by allowing power to the entire prostheticarm apparatus 10 to turned off whenever the arm is not in motion whilemaintaining the prosthetic arm apparatus 10 in a locked position.

An additional characteristic of the apparatus is that the hand assemblyincludes independently moving fingers and is capable of completing finetasks such as pinching, grasping non-uniform objects, and lifting smallobjects off flat surfaces. Also, the tactile feedback sensor providesthe user with feedback, during use of the prosthetic arm apparatus, suchas the force of a grip. The apparatus also includes a cosmesis coveringon the finger structures, which will be discussed in greater detailbelow, providing, amongst other things, grip for grasping objects. Therigid fingernail 304, shown in FIG. 34, which may be included on any ofthe finger structures, provides a backstop for the finger cover toenhance gripping capability. The rigid fingernail 304 also enhancesgripping capability by anchoring the finger cover to the finger andallows the user to lift small objects from a surface with the prostheticarm apparatus 10.

Referring to FIG. 42, wherein like numerals represent like elements, insome embodiments, the shoulder abductor 12 and the shoulder flexionassembly 14 shown in FIG. 2, may be integrated as a single shoulder unit1416, providing both degrees of freedom provided by the shoulderabductor 12 and shoulder flexion assembly 14 of FIG. 2. The singleshoulder unit 1416 includes a shoulder housing 1418 pivotally connectedto the harness mount 1026, which allows the shoulder unit 1416 to beconnected to a prosthetic harness (not shown) as discussed above. Insome embodiments, the shoulder housing 1418 has a smooth outer surface1419 to shape the shoulder unit 1416 to be similar to a human arm. Theshoulder housing 1418 is divided into a flexor portion 1420 and anabductor portion 1422, which are movable relative to one another. Theflexor portion 1420 of the shoulder housing 1418 includes the humeralinterface 1046 for connecting the humeral rotator 16, shown in FIGS. 1and 2, to the shoulder unit 1416. The abductor portion 1422 of theshoulder housing 1418 is pivotally connected to the harness mount 1026,which allows the shoulder unit 1416 to interface with a prostheticharness (not shown) as discussed above.

Referring to FIGS. 43 and 44, within the housing 1418 is a shoulderflexion drive 1424 for causing flexion motion of the flexor portion 1420about a shoulder flexion axis 1426 and an abduction drive 1428 forcausing abduction motion of the shoulder housing 1418 about an abductionaxis 1430. Additionally, the housing also defines an electronicscompartment 1432 for housing control systems and circuits for theintegrated shoulder unit 1416.

The shoulder flexion drive 1424, in one embodiment, includes a shoulderflexion motor 1434 having motor shaft 1058 for driving the shoulderflexion motor pulley 1056. The shoulder flexion motor pulley 1056 drivesthe shoulder flexion belt 1060, which, in turn, drives the shoulderflexion belt-driven pulley 1062. The shoulder flexion belt-driven pulley1062 drives the wave generator 1064 of a shoulder flexion harmonic drivegearing system 1436, the output of which is fixedly interfaced with theabductor portion 1422. Thus, as power is transmitted through theshoulder flexion drive 1424 from the shoulder flexion motor 1434 to theoutput of the harmonic drive gearing system 1436, the flexor portion1420 rotates relative to the abductor portion 1422 about the shoulderflexion axis 1426. In some embodiments, the motor shaft 1058 and thewave generator 1064 are both hollow shafts to allow passage of anabductor motor shaft 1438 and an abductor screw shaft 1440,respectively, as will be discussed in greater detail below.

In the exemplary embodiment, the abduction drive 1428 includes theabductor motor 1036 for driving the abductor motor shaft 1438. Theabductor motor shaft 1438 is configured to drive the abductor belt 1038about its distal end. The abductor belt 1038, in turn, drives theabductor screw shaft 1440, which has an abductor nut 1442 threadedlycoupled thereto. The abductor nut 1442 is connected to the harness mount1026 through a linkage 1444, which is, in some embodiments, a four barlinkage. As power is transmitted through the abductor drive 1426 fromthe abductor motor 1036 to the abductor screw shaft 1440, the screwshaft 1440 rotates. The rotation of the screw shaft 1440 causes theabductor nut 1442 to displace axially along the screw shaft 1440, whichcauses pivotal motion of the shoulder housing 1418 through the linkage1444 about the abduction axis 1430.

Referring to FIG. 42, the relative movement between the flexor portion1420 and the abductor portion 1422 provides the shoulder unit 1416 witha first degree of freedom similar to that of the shoulder flexion joint14 of FIG. 2. The abductor portion 1422 of the shoulder housing 1418 ispivotally connected to the harness mount 1026 at the abductor joint1034, providing the shoulder unit with the second degree of freedom byallowing the shoulder housing 1418 to pivot relative to the harnessmount 1026 in a similar manner to that discussed above in connectionwith the shoulder abductor 12 of FIG. 2. Referring to FIGS. 43 and 44,the integrated shoulder unit 1416 locates the shoulder flexion axis 1426and the abduction axis 1430 relatively close to one another as comparedto separate shoulder flexion and shoulder abduction assemblies, whichprovides for more intuitive motion that more closely simulates themovement of a human shoulder.

The shoulder flexion drive 1424 and the abduction drive 1428 discussedabove include coaxial motors and coaxial shafts to minimize the size ofthe single shoulder unit 1416 and to reduce the weight thereof. Thus,these exemplary single shoulder unit 1416 is beneficial because itsweight relative to the separate shoulder abductor 12 and shoulderflexion assembly 14, shown in FIG. 2. Additionally, the single shoulderunit 1416 provides more narrow housing 1418, which allows a more naturalanatomical position of the shoulder for a broader range of users and mayreduce bumping with the user's residuum during use. This embodiment hasan additional benefit of decreasing the weight of the prosthetic.Additionally, as seen in FIGS. 43 and 44, both the abduction motor 1036and the shoulder flexion motor 1434 may be located in the vicinity ofthe electronics compartment 1432, so the electronics for both theshoulder flexion drive 1424 and the abduction drive 1428 may be locatedin the same place, which eliminates any need to route wiring through theshoulder unit 1416. This is advantageous since running wires acrossjoints is a failure mode in which the wires may crimp and break whenmoved. Thus, the shoulder unit 1416 eliminates this failure mode byeliminating wires running across the joints that could cause failure ofthe prosthetic arm 1010.

Although the shoulder flexion drive 1424 and the abduction drive 1428have been shown in an exemplary configuration, it should be understoodby those skilled in the art that other drive configurations may also beused to drive the single shoulder unit 1416 about the shoulder flexionaxis 1426 and the abduction axis 1430. For instance, referring to FIG.45, the shoulder flexion motor 2434 and the abduction motor 2036 of thesingle shoulder unit 2416 do not need to be coaxial and they may stilleach be located within the housing 2418 in the vicinity of theelectronics compartment 2432. Additionally, rather than driving thelinkage 1444, shown in FIG. 43, the worm drive 2041 may insteadthreadably engage an abduction gear 2446 coupled to the harness mount2026 to generate pivotal movement about the abduction axis 2430.

Additionally, referring now to FIG. 46, in various embodiments, theintegrated shoulder unit 3416 may shift the abduction output to changethe location of the harness mount (not shown) to improve mountinglocation and/or to allow for ninety degrees (90°) of abduction about theabduction axis 3430 without bumping with the residuum (not shown). Forexample, the location of the abduction output may be changed byextending the abduction drive 3428 with one or more additional shafts,gears, and/or belts.

Referring to FIG. 47, the flexion assembly mount 4030 may also beshifted away from the harness mount 4026 in the non-integrated shoulderabductor 4012. Referring to FIG. 48, the flexion assembly mount 4030 mayalso include an accommodating slot 4031 adapted to accommodate portionsof the abductor joint 4034, shown in FIG. 47. Referring back to FIG. 47,the shifted flexion assembly mount 4030 allows the user to orient theshoulder abductor 4012 on the prosthetic support apparatus (not shown)in different orientations while still allowing a range of motion of theshoulder abductor 4012 of at least approximately ninety degrees (90°).This may be particularly advantageous since the mounting orientation ofthe shoulder abductor 4012 may vary from user to user, which may limitthe range of abduction motion with the non-shifted flexion assemblymount 30, shown in FIG. 6. Additionally, in some embodiments, theshifted flexion assembly mount 4030 may house a flex sensor plunger fordetecting flexion motion of the shoulder flexion assembly 4014.

Referring now to FIG. 49, another embodiment of the wrist rotator 1020is shown for providing improved electronic wiring capability to theprosthetic device. Although shown as the wrist rotator 1020, it shouldbe understood by those skilled in the art that a similar configurationmay be used for other rotating joints, such as the humeral rotator 16,shown in FIG. 1. In this embodiment of the wrist rotator 1020, the wristrotator motor 1448, including the wrist rotator motor armature 1174 anda driven portion 1450 of the wrist rotator motor rotor 1176 having wristrotator magnets 1178 disposed thereon, and the wrist harmonic drivegearing system 1452, including the wrist rotator harmonic drive gearingsystem wave generator 1180, the wrist rotator harmonic drive gearingsystem flexspline 1182 and the wrist rotator harmonic drive gearingsystem circular spline 1184, are separated into coaxial side-by-sideunits with the wrist rotator motor 1448 being proximate to the elbowinterface 1170 and the harmonic drive gearing system 1452 beingproximate to the wrist flexion assembly interface 1172. By arranging thewrist rotator motor 1448 and the wrist harmonic drive gearing system1452 in the side-by-side configuration, the electronics channel 1190passing through the center of the wrist rotator rotor 1176 may be formedlarge enough to allow electronic wiring to be run internally through thecenter of the wrist rotator 1020. Referring to FIGS. 50 and 51, thewiring through the prosthetic arm 10, shown in FIG. 1, in someembodiments, may run through one or more extension springs 1454, inparticular around the flexion joints, such as the elbow flexion assembly18 and the wrist flexion assembly 22, shown in FIG. 1, where internalwiring is difficult or impractical.

Routing the wiring through the center of the wrist rotator 1020eliminates the need for external wiring, thereby minimizing any flexingmovement experienced by the wiring, which can cause wire pinching,abrasions and failure. The internal wiring also eliminates thepossibility that external wiring will become caught on something andbreak. Routing the wiring through the one or more extension springs 1454where internal wiring is not practical, possible or desired allows forcontrolled loading of the external wiring and protects the wiring frompinching to reduce wire failure.

Referring to FIG. 52, in another embodiment of the wrist flexionassembly 1022, the output arm 1196 is able to move in flexion relativeto the input support structure 1194 about a flexion axis 1456 and tomove in ulnar-radial deviation relative to the input support structure1194 about a deviation axis 1458 that is perpendicular to the flexionaxis 1456. Thus, when the hand assembly 24, shown in FIG. 1, is attachedto the output arm 1196 of the wrist flexion assembly 1022, the handassembly 24, shown in FIG. 1, is able to move in both flexion andulnar-radial deviation.

Referring to FIG. 53, the wrist flexion assembly 1022 includes two wristmotors 1202, for controlling the flexion and ulnar-radial deviation ofthe output arm 1196, shown in FIG. 52. Each wrist motor 1202 drives aninput geartrain 1460, which, in turn, drives a wrist worm gear 1462.Each worm gear 1462 drives an input gear 1464 of a wrist differential1466. The wrist differential 1466 includes a first bevel gears 1468 anda second bevel gear 1470 that are rotatable about the flexion axis 1456.The first bevel gear 1468 and the second bevel gear 1470 may be drivenby one of the input gears 1464. The wrist differential 1466 alsoincludes a differential body 1472 rotatably attached about the flexionaxis 1456 between the first and second bevel gears 1468 and 1470. Anulnar-radial axle 1474 extends from one side of the differential body1472 along the ulnar-radial axis 1458 and a third bevel gear 1476extends from the differential body 1472 on the opposite side thereof.The third bevel gear 1476 is rotatable about the ulnar-radial axis 1458and meshes with and is driven by the first bevel gear 1468 and thesecond bevel gear 1470.

In operation, the user is able to actuate wrist flexion, wristulnar-radial deviation and combinations thereof by actuating the motors1202 in various ways. For example, referring to FIG. 54, if the motors1202 are driven at the same speed in opposite directions, i.e. one isdriven clockwise and the other counterclockwise, the output arm 1196,shown in FIG. 52 will move in flexion in one direction about the flexionaxis 1456. If the direction of each motor is reversed, i.e. fromspinning clockwise to counterclockwise and vice versa, the output arm1196, shown in FIG. 52, will flex in the opposite direction. Similarly,referring to FIG. 55, if the motors 1202 are driven at the same speed inthe same direction, i.e. both are driven clockwise, the output arm 1196,shown in FIG. 52, will move in ulnar-radial deviation in one directionabout the deviation axis 1458. If the direction of each motor isreversed, i.e. from spinning clockwise to counterclockwise, the outputarm 1196, shown in FIG. 52, will move in ulnar-radial deviation in theopposite direction about the deviation axis 1458. In addition to varyingthe direction of rotation of the motors 1202, varying the speed of onemotor 1202 relative to the other will result in a combination of flexionand ulnar-radial deviation. Accordingly, in this embodiment, wristflexion and ulnar-radial deviation may both be controlled simply byvarying the direction and speed of the motors 1202.

Although the wrist flexion assembly 1022 is described as having adifferential drive 1466 for imparting wrist flexion and wristulnar-radial deviation movement to the output arm 1196, it should beunderstood by those skilled in the art that other drives may be used toachieve similar capabilities. For instance, referring to FIG. 56, thewrist flexion assembly 2022 may include a separate wrist flexiongeartrain 2478 for imparting flexion motion to the output arm 2196 aboutthe flexion axis 2456 and a separate ulnar-radial geartrain 2480 forimparting ulnar-radial deviation to the output arm 2196 about thedeviation axis 2458.

Referring to FIG. 76, in another embodiment of the present invention, awrist flexion assembly 4022 is provided for imparting a combination ofboth flexion about the flexion axis 4456 and ulnar-radial deviationabout the deviation axis 4458 to the hand assembly 4024 in a singlemovement. The wrist flexion assembly 4022 includes the input supportstructure 4194 adapted to be connected to the wrist rotator 20, shown inFIG. 1, in the same manner as discussed above. The wrist supportstructure 4194 includes a hand interface 4626 proximate to the handassembly 4024 for attaching the hand assembly 4024 to the wrist supportstructure 4194. The wrist support structure 4194 houses a wrist motor202, shown in FIG. 26, which drives the wrist pivot axle 4208 in rotarymotion about the wrist flexion axis 4456 through an appropriate geartrain (not shown). The wrist pivot axle includes flattened end portions4628 at each end thereof, extending outwardly from the wrist supportstructure 4194 and into the hand interface 4626. Each flattened endportion 4628 has two substantially parallel planar surface 4630extending parallel to the wrist flexion axis 4456. The hand interface4626 includes a first cam bearing 4632 fixedly secured to the wristsupport structure 4194 about the flattened end portion 4628 of the wristpivot axle 4208 proximate to the thumb structure 4220 of the handassembly 4024. The hand interface also includes a second cam bearing4634 fixedly secured to the wrist support structure 4194 about theflattened end portion 4628 of the wrist pivot axle 4208 proximate to thepinky finger 4230 of the hand assembly 4024. Referring to FIG. 77, thefirst cam bearing 4632 includes a first cam profile 4636 formed therein.Referring to FIG. 78, the second cam bearing 4634 includes a second camprofile 4638 formed therein. Referring back to FIG. 76, the handinterface 4626 also includes first and second slider blocks 4640coupling the hand assembly 4024 to the wrist flexion assembly 4022. Thefirst and second slider blocks 4640 each have a proximate end 4642 atthe hand interface 4626 and a distal end 4644 near the hand assembly4024. Each of the first and second slider blocks 4640 has a slot 4646formed therein that slidably receives one of the flattened end portions4628 of the wrist pivot axle 4208. The first and second slider blocks4640 include cam followers 4648 at their proximate ends 4642 that arereceived within the first cam profile 4636 of the first cam bearing 4632and the second cam profile 4638, shown in FIG. 78, of the second cambearing 4634. The first and second slider blocks 4640 are pivotallycoupled to the hand assembly 4024 at their distal ends 4644 about pivotaxes 4650.

In this embodiment, the hand assembly 4024 may be angled away from theflexion axis 4456 about a wrist rotation axis 4652 to reduce the motionthat the first cam profile 4636 and the second cam profile 4638 need toproduce to achieve the desired combined flexion and ulnar-radialdeviation movement of the hand assembly 4024. In some embodiments, thehand assembly 4024 is angled approximately thirty degrees clockwise (30°clockwise) assuming left hand user perspective from the flexion axis4456.

Referring to FIGS. 79A-79C, in operation, the wrist motor 202, shown inFIG. 26, drives the wrist pivot axle 4208 in rotation movement about theflexion axis 4456, which provides the hand assembly 4024 with flexionmovement. Additionally, the sliding engagement between the flattened endportions 4628 of the wrist pivot axle 4208 and the first and secondslider blocks 4640 causes the first and second slider blocks 4640 topivot about the flexion axis 4456 as the wrist pivot axle 4208 rotates.As the first and second slider blocks 4640 pivot, the cam followers4648, shown in FIG. 76, follow the first cam profile 4636, shown in FIG.77, and the second cam profile 4638, shown in FIG. 78, which causes thefirst and second slider blocks 4640 to slide relative to the wrist pivotaxle 4208. This sliding motion of each of the first and second sliderblocks 4640 causes the hand assembly 4024 to pivot about the pivot axes4650, shown in FIG. 76, which results in the ulnar-radial deviationmovement of the hand assembly 4024. Thus, as the wrist motor drives thewrist pivot axle 4208, the hand assembly 4024 moves from a firstposition 4654, shown in FIG. 79A, in which the hand is fully flexed anddeviated in the ulnar direction, to a second position 4656, shown inFIG. 79B, which is a neutral position with respect to flexion movementbut includes some degree of ulnar deviation. Then, the hand assembly4024 continues to move until it reaches a third position 4658, shown inFIG. 79C, in which the hand assembly 4024 is fully extended about theflexion axis 4456 and is also fully deviated in the radial direction.

Referring to FIG. 80, the first cam profile 4636, shown in FIG. 77, andthe second cam profile 4638, shown in FIG. 78, provide for movement ofthe hand assembly 4024, shown in FIG. 76, along a constrainedflexion-deviation movement path 4660 that includes components of bothflexion motion and ulnar-radial deviation motion. The constrainedflexion-deviation movement path 4660 is advantageous because the useronly needs to think about controlling a single degree of freedom, unlikethe embodiments discussed above that provide independent wrist flexionmovement and ulnar-deviation movement. Additionally, the constrainedflexion-deviation movement path 4660 is beneficial because it providesfor full flexion movement and also provides for nearly full ulnardeviation without requiring full wrist flexion. Thus, functionality isparticularly beneficial when users use the prosthetic arm apparatus 10,shown in FIG. 1, to pick up an object (not shown) from overhead. Theconstrained flexion-deviation movement path 4660 also advantageouslyallows for some degree of flexion movement without significant ulnardeviation, which allows the user to move an object, such as a spoon, inflexion motion without spilling its contents. This range of flexionmovement with minimal ulnar deviation provided by the constrainedflexion-deviation movement path 4660 may also be beneficial tocompensate for offset in situations where the prosthetic arm apparatus10, shown in FIG. 1, is mounted at an offset, for example, to avoid theuser's residuum. Additionally, since the hand assembly 4024, shown inFIG. 76, is angled in the neutral second position 4656, shown in FIG.79B, pinching of the thumb structure 4220, shown in FIG. 76, and indexfinger structure 4222, shown in FIG. 76, are more in line with the wristrotation axis 4652, which makes various tasks easier for the user, suchas turning a door knob, turning a key or the like. Thus, the constrainedflexion-deviation movement path 4660 provided by the wrist flexionassembly 4022, shown in FIG. 76, provides a variety of advantages overconventional prosthetic devices.

Although described in terms of constrained flexion-deviation movementpath 4660, it should be understood by those skilled in the art that thefirst cam profile 4636, shown in FIG. 77, and the second cam profile,shown in FIG. 78, may be formed in various configurations to achieve avariety of different constrained movement paths. Additionally, althoughthe constrained flexion-deviation movement path 4660 has been describedin connection with the wrist flexion assembly 4022, the constrainedflexion-deviation movement path 4660 may also be commanded using theflexion assembly 1022, shown in FIG. 52, by programming the prostheticcontroller to actuate the motors 1202, shown in FIG. 53, to move theprosthetic hand assembly 24 along the same constrained flexion-deviationpath 4660.

Referring to FIG. 57, in various embodiments, the non-backdriving clutch1070 may replace spacers of the input cage 1074 with springs 1482between the rollers 1072. The springs 1482 push the rollers 1072 apartand into contact with both the race 1078 and the output polygon 1484,which may be an output hex 1076. Thus, when a backdriving torque (notshown) is applied to the output hex 1076 to friction lock the rollers1072 between the output hex 1076 and the bearing race 1078, the rollers1072 are already contacting both the race 1078 and the output hex 1076,thereby eliminating backlash, i.e. a slight rotation of the outputpolygon 1076, when the backdriving torque (not shown) is applied. Thus,the non-backdrivable clutch 1070 imparts a frictional lock, whichadditional backdriving torque (not shown) through the output hex 1076will not overcome. Additionally, as discussed above in connection withFIG. 12, in various embodiments, the non-backdriving clutch 1070 mayunlock itself through the application of an input load through the inputcage 1074. Variations of this embodiment may include, but are notlimited to, additional or fewer springs 1482, additional or fewerrollers 1072 or a differently shaped race 1078. For example, in variousembodiments, the relative position of the output hex 1076 and the race1078 may be shifted, i.e., rather than the hollow, circular race 1078with the output polygon 1484 inside, in various embodiments, the clutchmay include an outer hollow output polygon surrounding a circular race.Additionally, although shown as a coil spring, it should be understoodby those skilled in the art that the springs 1482 may be formed invarious configurations and/or from a variety of metal or elastomericmaterials to provide the force for separating the rollers 1072.

Referring to FIG. 58, an embodiment for output load sensing through adrive 1486 having a worm gear 1488, such as the shoulder abduction drive3428 of FIG. 46, is shown. Including one or more worm gears 1488 in thedrive 1486 is beneficial because the worm gear 1488 may itself preventbackdriving. The worm gear 1488 may be arranged on a splined shaft 1490between a first spring 1492 and a second spring 1494. The splined shaftincludes a plurality of splines 1496 arranged axially around the surfaceof the splined shaft 1490 and a shaft input 1498 portion, which may berotated directly by a motor (not shown) or through a gear train or thelike. The worm gear 1494 is tubular and has an interior surface 1500designed to slidably interface with the splines 1496 of the splinedshaft 1490 such that the worm gear 1488 may slide axially along thesurface of the splined shaft 1490. The worm gear 1488 meshes with anoutput gear 1502 such that when the splined shaft 1490 is caused torotate through its shaft input portion 1498, the splined shaft 1490rotatably drives the worm gear 1488 through the splines 1496 which, inturn, drives the output gear 1502. When a load (not shown) is applied tothe drive through the output gear 1502, for example, if the user islifting an object, the load will generate a torque T at the output gear1502. Although the torque T will not cause the worm gear 1488 to rotate,the torque T may cause the worm gear 1488 to displace axially along thesplined shaft 1490 compressing one of the first spring 1492 or thesecond spring 1494, depending upon the direction of displacement. Thus,by designing the drive system 1486 with the first spring 1492 and thesecond spring 1494 of known spring constants, the compliance, i.e. thedisplacement of the worm gear 1488, may be measured to estimate theoutput load (not shown). This drive system 1486 for output load sensingis particularly beneficial since the compliance is still present oractive while the worm gear 1488 is not being rotated, but is insteadacting as a non-backdriving element.

The prevention of backdriving with the various systems discussed aboveis beneficial because it allows the user to maintain a position of theprosthetic arm 10, shown in FIG. 1, while under a load (not shown).However, referring to FIGS. 59 and 60, in some embodiments, it may bedesirable to provide the various arm segments with break-away mechanisms2504 that will separate the drive output from the drive input to preventdamage to the drive system if the load becomes too large. The break-awaymechanism 2504 may include an input shaft 2506, an output shaft 2508 andtwo break-away spacers 2510 that are held in contact with the inputshaft 2506 and output shaft 2508 by a compression member 2512. The inputshaft 2506 and the output shaft 2508 each include a shaft body 2514 anda torque transmission tab 2516 extending axially outward from the shaftbody 2514 between the break-away spacers 2510. The compression elementmember 2512 surrounds the break-away spacers 2510 and sandwiches thetorque transmission tabs 2516 therebetween. The compression member 2512may be, for example, a snap ring, a round metal ring, an o-ring,multiple o-rings, a coil spring, or the like. The compression member2512 applies a preset compressive force to the breakaway spacers 2510.

In operation, the input shaft 2506 of the break-away mechanism 2504 isrotated by a motor (not shown) or the like to generate a desiredmovement of the prosthetic arm 10, shown in FIG. 1. Thus, the torquetransmission tab 2516 of the input shaft 2506 rotates and transmits therotation through the break-away spacers 2510 to the torque transmissiontab 2516 of the output shaft 2508 as long as the torque required tocause rotation of the torque transmission tab 2516 of the output shaft2508 is not large enough to overcome the preset compressive forceprovided by the compression member 2512. If the torque is large enoughto overcome the preset compressive force, the torque transmission tab2516 will push the break-away spacers 2510 apart and the torquetransmission tab 2516 will rotate between the break-away spacers 2510without transmitting torque therethrough. Thus, the break-away mechanism2504 may prevent torque above a preset level from being transmittedthrough the drive system, where it can damage the drive systemcomponents or injure the user. Accordingly, the break-away mechanism2504 may limit the amount of torque applied to sensitive parts of thevarious drive systems of the prosthetic arm 10, shown in FIG. 1, andmay, therefore, impart a longer lifespan on the prosthetic arm.

Referring to FIG. 61A, another embodiment of a breakaway mechanism 3504includes an input ring 3518 and an output ring 3520 connected by adetent ring 3522. The breakaway mechanism 3504 may be connected betweentwo prosthetic arm segments, for example, the input ring 3518 may beconnected to the shoulder unit 1416, shown in FIG. 42, and the outputring 3520 may be connected to the humeral rotator 16, shown in FIG. 1.Referring to FIGS. 62B and 63B, in some embodiments, the input ring3518, output ring 3520 and the detent ring 3522 each includes analignment marker 3524 on its outer surface 3526 to indicate properpositioning of the breakaway mechanism 3504.

Referring to FIG. 61B, the output ring 3520 includes a central hub 3528having an outer surface 3529 with a plurality of spring fingers 3530radiating therefrom. Each spring finger 3530 has a first detent 3532 anda second detent 3534 along its length and a pin 3536 at its distal end3538. The input ring 3518 includes a plurality of detents 3540 aroundthe circumference of its inner surface 3542, within which the pins 3536of the spring fingers 3530 may engage, as will be discussed in greaterdetail below. The detent ring 3522 includes a plurality of detent pins3544 located partway between the inner surface 3542 of the input ring3518 and the outer surface 3529 of the output ring 3520. The detent pins3544 engage the first detents 3532 of the spring fingers 3530 duringnormal operation of the breakaway mechanism 3504, i.e. when torque isbeing transmitted through the breakaway mechanism 3504.

However, referring to FIG. 62A, if an overtorque situation occurs, thepins 3536 at the distal ends 3538 of the spring fingers 3530 will popout of the ring detents 3540 so that the torque will not be transmittedback to the input ring 3518. Additionally, referring to FIG. 62B, theovertorque situation will also cause the alignment markers 3524 to moveout of alignment. The user may then realign the alignment markers 3524to transmit torque through the breakaway mechanism 3504.

Referring to FIG. 63A, the user may also intentionally disengage thetorque transmission by moving the alignment marker 3524 on the detentring 3522 up to engage the breakaway mechanism 3504 in freeswing. Asseen in FIG. 63B, this configuration entirely disengages the springfingers 3530 from the input ring 3518, thereby allowing the output ring3520 to rotate freely without driving the upstream components throughthe input ring 3518. Thus, this embodiment of the breakaway mechanism3504 is advantageous because it also allows for the user to engagefreeswing of the prosthetic arm 10, shown in FIG. 1.

These break-away mechanisms discussed above are beneficial because theyprevent damage to the prosthetic arm apparatus 10 and possible injury tothe user due to high loading situations. Additionally, the break-awaymechanisms are advantageous in that once the break-away mechanisms breakunder high loading, they may be reset by the user without the need tosee a prosthetic technician.

As discussed above, various embodiments of the prosthetic arm 10, shownin FIG. 1, include feedback mechanisms for compliance and positionsensing, such as potentiometer 48, shown in FIG. 10. Referring now toFIG, 64, in some embodiments, the prosthetic arm 10, shown in FIG. 1,may include other feedback mechanisms, for example, a magnetic positionsensor 1546. In these embodiments, at least one magnetic strip 1548 maybe attached about the circumference of an inner surface 1550 of arotatable drive component 1552. The magnetic strip 1548 includes aplurality of magnets 1554 of known length L1 arranged in series, eachhaving a north pole N and a south pole S. Thus, the magnetic strip 1548generates a magnetic field having a repeating pattern of alternatingnorth poles N and south poles S. The magnetic position sensor 1546 isarranged to detect this magnetic field generated by the magnetic strip1548. In operation, the rotatable drive component 1552 rotates, whichcauses the magnetic strip 1548 to rotate, thereby moving the portion ofthe magnetic strip 1548 being detected by the magnetic position sensor1546. The magnetic position sensor 1546 detects this change in themagnetic field as the magnetic strip 1548 rotates from each north pole Nto each south pole S and vice versa. Since the length L1 of each magnet1554 is known, the detected changes in the magnetic field between eachnorth pole N and/or each south pole S may be converted into the distanceof rotational movement of the rotatable drive component 1552. Thus, thechange in position of the rotatable drive component 1552 may bedetected. The magnetic position sensor 1546 is also advantageous becauseit does not contact the rotating drive component 1552 and, therefore,will not experience contact wear due to the rotation of the rotatabledrive component 1552.

Referring to FIG. 65, in some embodiments, two magnetic position sensors1546 may be used to detect the magnetic fields generated by the firstmagnetic strip 1548 and a second magnetic strip 1556 arranged next toeach other around the circumference of the inner surface 1550 of arotatable drive component 1552. A length L2 of each magnet 1558 of thesecond magnetic strip 1556 is, in some embodiments, different than thelength L1 of the magnets of the first magnetic strip 1548. Thisdifference in length allows for the magnetic position sensors 1546 tosense unique combinations of magnetic field values from the firstmagnetic strip 1548 and the second magnetic strip 1556 over thecircumference of the inner surface 1550. Each unique magnetic fieldvalue may correspond to a position of the drive component 1552 and,therefore, absolute position of the drive component 1552 may be detectedby the two magnetic position sensors 1546.

In practice, the hand assembly 24, shown in FIG. 1, and particularly,the fingers of the hand assembly 24, i.e. the thumb structure 220, indexfinger structure 222, middle finger 226, ring finger 228 and pinkyfinger 230, all shown in FIG. 3, come into contact with objectsfrequently and, therefore, may be susceptible to wear and damage. Thus,referring to FIG. 66, it may be desirable for the prosthetic handassembly 1024 to include removable fingers 1560. In this embodiment ofthe prosthetic hand assembly 1024, the removable fingers 1560 may beremoved to allow for easier replacement of damaged fingers 1560 andalso, to allow for easily customizable or tailored finger lengths fordifferent user.

Each removable finger 1560 is driven in substantially the same manner asthe fingers of the previously discussed embodiments. However, theremovable fingers 1560 pivot about a common finger shaft 1562, ratherthan the individual pivot axles discussed in connection with FIG. 33. Insome embodiments, end caps 1564 cover each end of the common fingershaft 1562 to prevent dirt or other contaminants from getting into thegear trains of the hand assembly 1024 and also to ensure that the commonfinger shaft 1562 does not become axially displaced unintentionally. Inoperation, either end cap 1564 may be removed from the hand assembly1024 and the common finger shaft 1562 may be extracted to free theremovable fingers 1560. Each finger 1560 may then be removed andreplaced individually, as required.

As discussed above, the fingers 1560 of the hand assembly 1024 come intocontact with objects frequently and are, therefore, susceptible to wear.Thus, referring to FIG. 67, some embodiments of the present inventionmay include a cosmesis 1566 for covering the hand assembly 1024 toreduce wear of the hand assembly 1024 and the fingers 1560, inparticular. The cosmesis 1566 may be formed from silicone or a similarmaterial, such as a urethane, to improve the grip capabilities of thehand assembly 1024 to assist with the various grasping and pinchfunctions of the hand, thereby, providing additional functionality.

In use, the cosmesis 1566 may wear more quickly around the fingers 1560and the thumb structure 1220. Therefore, in some embodiments thecosmesis 1566 may separate into two or more sections to allow high wearareas to be replaced more frequently than low wear areas. For instance,referring to FIG. 68A, in some embodiments, the cosmesis 2566 includes aseparate palm section 2568 covering the hand support 2218, fingersections 2570 covering each finger 2560 and a thumb section 2572covering the thumb structure 2220. Thus, the finger sections 2570 andthumb section 2572 may each be replaced separately from the palm section2568. Although shown as having separate finger sections 2570 and thumbsection 2572, in various embodiments, the cosmesis 2566 may also includeonly two sections, for example, the finger sections 2570 and the thumbsection 2572 may be combined into one section and the hand support 2218may be covered by the separate palm section 2568.

Referring to FIG. 68B, in some embodiments of the present invention, thefingers 3560 may be provided with geometric features 3574, such asslots, in their outer surfaces 3576 that may accept correspondinggeometric interlocks 3578 provided on the inner surface 3580 of thecosmesis 3566. This interlocking geometry may resist shear loads on thecosmesis 3566, thereby preventing the cosmesis 3566 from slipping off ofthe fingers 3560. Additionally, with respect to the hand cosmesis, finepinch and other functions may require a structural backing at the tipsof the fingers 3560 and thumb structure 3220. Therefore, in someembodiments, the geometric features 3574 of the fingers 3560 and thumbstructure 3220 may each include a fingernail apparatus 579, shown inFIG. 40. The fingernail apparatus 579, shown in FIG. 40, interacts withthe finger and thumb structure cosmesis 3566 to anchor the cosmesis 3566of the fingers 3560 and thumb structure 3220, thereby mitigating and/orpreventing the cosmesis 3566 from rolling over on the tips of thefingers 3560 and thumb structure 3220.

Referring to FIG. 69, the palm section 1568 of the cosmesis 1566 mayalso be formed to resist slippage due to shear loads. For instance, apalm side 1582 of the cosmesis 1566 may be formed with a tacky innersurface 1584. In some embodiments, the material of the cosmesis 1566itself will provide the tacky inner surface 1584, for example, siliconor a urethane material may be naturally tacky. In other embodiments, atacky surface coating may be applied to the cosmesis to form the tackyinner surface 1584. Thus, as objects being held are pressed against thepalm side 1582 of the cosmesis 1566, the tacky inner surface 1584 ispressed against the hand support 218, shown in FIG. 29, therebyresisting slippage. In some embodiments, in this embodiment, a back side1586 of the cosmesis 1566 is formed with a slippery inner surface 1588to facilitate installation and removal of the cosmesis 1566. Forexample, the slippery inner surface 1588 may be formed by applying asurface modifying coating to the cosmesis, or applying a surface textureto the cosmesis 1566. For example, to install the cosmesis 1566 onto thehand support 218, shown in FIG. 29, the cosmesis 1566 may be pulled downand away from the palm so that the slippery inner surface 1588 of theback side 1586 slides along the hand support 218, while the tacky innersurface 1584 of the palm side 1582 is pulled away from the hand support218. Thus, the cosmesis 1566 may be easily slid onto the hand support218. To remove the cosmesis 1566, the palm side 1582 may again be pulledaway from the hand support 218 while the cosmesis 1566 is pulled towardthe fingers 1560, thereby allowing the cosmesis 1566 to slide easily offthe hand support 218.

Additionally, in some embodiments, the fingers 1560 may include one ormore additional functions. For example, referring to FIG. 70, one ormore fingers 1560 may include a thermal sensor 1590 disposed thereon todetermine the temperature of an object (not shown) brought into contactwith the finger 1560. The signal from the sensor 1590 may be transmittedto a controller (not shown) for the prosthetic arm 1010 and displayed tothe user as will be discussed in greater detail below. In someembodiments, temperature detection may be provided by forming thecosmesis 1566, or a portion thereof, from a temperature sensitivepolymer, such as a polymer with a thermochromic color changing additivetherein or thermochromic liquid crystal that allows a variety of colorsto be shown as temperature changes, which will change color dependingupon the temperature of the cosmesis 1566. For example, the cosmesis1566 may change from one color to another if a present temperature isexceeded. This temperature sensing functionality may be used todetermine the temperature of an object (not shown) in the hand 1024 andto warn the user of a high temperature or low temperature condition tomitigate the threat of burns or other harm.

Referring to FIG. 71, another embodiment of the thumb structure 2222 isshown for providing thumb compliance detection. The thumb structureincludes a thumb base 2592 and a thumb tip 2594, which are eachsubstantially rigid and are joined together by an elastomeric spring2596. In some embodiments, the interface between the thumb tip 2594 andthe elastomeric spring 2596 includes one or more alignment features 2598to ensure proper alignment of the thumb tip 2594 with the elastomericspring 2596. Similarly, the interface between the thumb base 2592 andthe elastomeric spring 2596 also includes one or more alignment features2598 to ensure proper alignment of the thumb base 2592 and theelastomeric spring 2596.

Referring to FIG. 72, within the thumb structure 2222, the thumb base2592 includes a pivotal interface tube 2600 extending upward into acentral bore 2602 of the elastomeric spring 2596. A pivot shaft 2604,having a magnet 2606 disposed at its lower end 2608, is arranged withthe pivotal interface tube 2600 and extends upwardly therefrom into acentral bore 2610 in the thumb tip 2594 of substantially the samediameter as the pivot shaft 2604. Below the pivot shaft 2604 within thethumb base 2592 is arranged a Hall effect sensor 2612 on a sensorbracket 2614. The sensor bracket 2614 includes a wire channel 2616 tofacilitate wiring the Hall effect sensor 2612 to the prosthetic controlcircuits (not shown). Referring to FIG. 73, in operation, when a load Lis applied to the thumb tip 2594 the elastomeric spring 2596 compresseson the side of the thumb structure 2222 opposite the applied load L,allowing the thumb tip 2594 to tilt. The tilt of the thumb tip 2594causes a corresponding tilt of the pivot shaft 2604 within the pivotalinterface tube 2600, thereby displacing the magnet 2606 disposed on thelower end 2608 of the pivot shaft 2604. The Hall effect sensor 2612detects this displacement of the magnet 2606, which can be correlated tothe applied load L on the thumb tip 2594. By detecting the various loadson the thumb structure 2222, the user may ensure that objects are notgripped so hard that they could break and that the thumb is notsubjected to loads that could cause failure of the thumb structure 2222.

Referring to FIG. 74, in some embodiments, the humeral rotator 1016 mayinclude a yolk 1618, rather than the cantilever mounting interface shownin FIG. 16, for interfacing with the elbow flexion assembly 1018. Theyolk 1618, interfaces with a first side 1620 and a second side 1622 ofthe elbow flexion assembly 1018 to provide increased strength to theinterface when compared to the cantilever mounting interface shown inFIG. 16, which only interfaces with one side of the elbow flexionassembly 1018.

Referring to FIG. 75A, in some embodiments of the present invention, theprosthetic arm 3010 may be provided with a status indicator 3620. Insome embodiments the status indicator 3620 may include, but is notlimited to, one or more LEDs 3622 arranged on the hand assembly 3024.However, in other embodiments, the one or more LEDs 3622 may be locatedin various locations. The one or more LEDs 3622 may be configured tocommunicate a variety of information to the user, including, but notlimited to, one or more of the following, battery power level, anoperational mode of the prosthetic device, faults, alarms, alerts,messages, and/or the like. Additionally, although shown as one or moreLEDs 3622 the status indicator 3620 may, in other embodiments, include adigital display and/or user interface, which may be arranged on theprosthetic device 3010, built into the prosthetic device 3010 and/or maybe a separate display unit (for example, as shown in FIG. 75B as 3630),and in some embodiments, may be a unit worn similarly to a wrist watchor bracelet as shown in FIG. 75B as 3630. However, in other embodiments,the unit 3630 may be a portable unit that may be worn or carried nearthe user, for example, but not limited to, clipped on clothing, beltand/or attached to the user, and/or carried in a pocket either in theuser's clothing and/or in a separate bag and/or pack. In someembodiments, the unit 3630 may be a PDA (personal data assistant), smartphone or other electronic device configured to communicate with theprosthetic device 3010 by way of a wireless communications protocol,including, but not limited to, RF and Bluetooth®.

Thus, in some embodiments, it may be desirable to include both aseparate display unit and one or more LEDs 3622, where, for example, butnot limited to, the one or more LEDs 3622 may be used to display one ormore critical piece of information to the user, while the separatedisplay unit, 3630 may provide a greater variety of information in moredetail.

Still referring to FIG. 75, in some embodiments of the presentinvention, the prosthetic arm 3010 may be provided with an emergencyswitch 3624 which may turn off power to the system and thus engage thevarious brakes and/or clutches in the prosthetic arm 3010. In someembodiments, the emergency switch 3624 is a chin switch that the usermay activate with their chin.

The prosthetic arm apparatus of the present invention has a variety ofbenefits over conventional prosthetic devices, such as the modularity ofeach segment of the prosthetic arm apparatus as discussed above, whichallows the formation of customized prosthetic devices for differentusers. In particular, each segment of the prosthetic arm apparatus 10contains all of the actuators for that segment so that it may be removedas a separate unit. For instance, the hand assembly includes all of thefinger actuators therein, allowing it to be connected and/or removed asa separate unit. Additionally, various degrees of freedom of the handassembly are particularly beneficial because they allow the formation ofvarious grasps or grips.

Although the invention has been described in the context of a prostheticarm, an apparatus according to the elements of this invention could beused in other robotic tools, such as those used in manufacturing and/orteleoperations, where an operator is not connected directly to thecontrolled device. For example the prosthetic arm apparatus may be usedfor teleoperation in hazardous environments and/or hazardous activities,for the detonation of explosive devices or the like. In theseenvironments, the prosthetic arm apparatus may provide a more intuitiveinterface for the user since the user will already be familiar with thenatural movements of the arm, which may make control translation of theprosthetic arm apparatus easier.

While the principles of the invention have been described herein, it isto be understood by those skilled in the art that this description ismade only by way of example and not as a limitation as to the scope ofthe invention. Other embodiments are contemplated within the scope ofthe present invention in addition to the exemplary embodiments shown anddescribed herein. Modifications and substitutions by one of ordinaryskill in the art are considered to be within the scope of the presentinvention.

What is claimed is:
 1. A prosthetic wrist assembly for imparting fixedpath motion to a prosthetic hand assembly, the prosthetic wrist assemblycomprising: an input support structure; a hand interface moveablycoupled to the input support structure through a coupling, the handinterface configured to have the prosthetic hand assembly attachedthereto; the coupling comprising: a wrist pivot axle passing through theinput support structure and extending outwardly therefrom to engage thehand interface; and a track system defining a fixed flexion-deviationmovement path for the prosthetic hand assembly relative to the inputsupport structure, the fixed flexion-deviation movement path having acomponent of flexion about the wrist pivot axle and a component ofdeviation about a deviation axis perpendicular to the wrist pivot axle;and a motor for driving the wrist pivot axle in rotary motion; whereinrotary motion of the wrist pivot axle drives the hand interface to movethe hand assembly along the fixed flexion-deviation movement path. 2.The prosthetic wrist assembly according to claim 1 further comprising:wherein the wrist pivot axle includes a flattened end portion at eachend extending outwardly from the input support structure into the handinterface, and wherein the hand interface includes first and secondslider blocks slidably coupled to the flattened end portions of thepivot axle and adapted to attach the hand assembly thereto.
 3. Theprosthetic wrist assembly according to claim 2 further comprisingwherein the track system includes first and second cam bearings attachedto the input support structure about each flattened end portion of thepivot axle, the first and second cam bearings having first and secondcam profiles formed therein defining the fixed flexion-deviationmovement path.
 4. The prosthetic wrist assembly according to claim 3further comprising wherein each of the first and second slider blocksincludes a cam follower engaging one of the first or second camprofiles.
 5. The prosthetic wrist assembly according to claim 1 furthercomprising wherein the hand assembly is angled away from the wrist pivotaxle.
 6. The prosthetic wrist assembly according to claim 5 furthercomprising wherein the hand assembly is angled approximately 30 degrees.7. A prosthetic wrist assembly for imparting fixed path motion to aprosthetic hand assembly, the prosthetic wrist assembly comprising: aninput support structure including first and second cam profiles defininga fixed flexion-deviation movement path; a hand interface for couplingthe prosthetic hand assembly to the prosthetic wrist assembly, the handinterface including first and second cam followers respectively engagingthe first and second cam profiles; a wrist pivot axle pivotally coupledto the input support structure and extending outwardly therefrom toengage the hand interface through a joint configured to impart bothrotary and sliding movement on the hand interface; and an actuator fordriving the wrist pivot axle in rotary motion relative to the inputsupport structure.
 8. The prosthetic wrist assembly according to claim7, wherein rotary motion of the wrist pivot axle drives the handinterface to move the hand assembly along the fixed flexion-deviationmovement path defined by the first and second cam profiles.
 9. Theprosthetic wrist assembly according to claim 8, wherein the fixedflexion-deviation movement path includes a component of flexion aboutthe wrist pivot axle and a component of deviation about a deviationaxis.
 10. The prosthetic wrist assembly according to claim 7, whereinthe wrist pivot axle includes a flattened end portion at each endextending outwardly from the input support structure into the handinterface, and wherein the hand interface includes first and secondslider blocks slidably coupled to the flattened end portions of thepivot axle and adapted to attach the hand assembly thereto.
 11. Theprosthetic wrist assembly according to claim 10, wherein the first andsecond cam profiles are formed in first and second cam bearings of theinput support structure.
 12. The prosthetic wrist assembly according toclaim 11, wherein the first and second cam bearings are located abouteach flattened end portion of the pivot axle.
 13. The prosthetic wristassembly according to claim 7, wherein the hand assembly is angled awayfrom the wrist pivot axle.
 14. The prosthetic wrist assembly accordingto claim 13, wherein the hand assembly is angled approximately 30degrees.
 15. A prosthetic wrist assembly for imparting fixed path motionto a prosthetic hand assembly, the prosthetic wrist assembly comprising:an input support structure; a hand interface for coupling the prosthetichand assembly to the prosthetic wrist assembly; a coupling moveablycoupling the hand interface to the input support structure, the couplingcomprising a wrist pivot axle passing through the input supportstructure and extending outwardly therefrom to engage the handinterface, and a track system defining a fixed flexion-deviationmovement path for the prosthetic hand assembly relative to the inputsupport structure; and an actuator for driving the hand interfacerelative to the input support structure through the wrist pivot axle tomove the hand assembly along the fixed flexion-deviation movement path.16. The prosthetic wrist assembly according to claim 15, wherein thewrist pivot axle is pivotally coupled to the input support structure;and wherein the actuator drives the wrist pivot axle in rotary motion.17. The prosthetic wrist assembly according to claim 16, wherein thefixed flexion-deviation movement path includes a component of flexionabout the wrist pivot axle and a component of deviation about adeviation axis.
 18. The prosthetic wrist assembly according to claim 16,wherein the input support structure includes first and second camprofiles defining the fixed flexion-deviation movement path.
 19. Theprosthetic wrist assembly according to claim 18, wherein the handinterface includes first and second cam followers respectively engagingthe first and second cam profiles.
 20. The prosthetic wrist assemblyaccording to claim 18, wherein the first and second cam profiles areformed in first and second cam bearings of the input support structure.21. The prosthetic wrist assembly according to claim 20, wherein thefirst and second cam bearings are positioned about each end portion ofthe pivot axle.
 22. The prosthetic wrist assembly according to claim 15,wherein the wrist pivot axle includes a flattened end portion at eachend extending outwardly from the input support structure into the handinterface; and wherein the hand interface includes first and secondslider blocks slidably coupled to the flattened end portions of thepivot axle and adapted to attach the hand assembly thereto.
 23. Theprosthetic wrist assembly according to claim 22, wherein the handassembly is angled away from the wrist pivot axle.
 24. The prostheticwrist assembly according to claim 23, wherein the hand assembly isangled approximately 30 degrees.